Faculty of Engineering
Computer and Systems Engineering Department
Master and Diploma Students
CSE 502: Control Systems (1)
Topic#1
Introduction to Control Systems
Prof. Wahied Gharieb Ali Abdelaal
CSE 502: Control Systems (1)
Instructor: Prof. Wahied Gharieb Ali
Office: R302
E-mail: wahid_ali@eng.asu.edu.eg - wahied@hotmail.com
Lectures: http://portal.eng.asu.edu.eg/wahied
TEXTBOOKS
Part-1 Analog Control:
Norman S. Nise, “Control Systems Engineering”, 6th Edition, John
Wiley & Sons, 2011.
2) R. C. Dorf and R. H. Bishop, “Modern Control Systems”, 12th Edition,
Prentice Hall, 2011.
3) K. Ogata, “Modern Control Engineering”, 5th Edition, Prentice Hall,
2010.
4) Farid Golnaraghi and Benjamin C. Kou, “Automatic Control
Systems”, 9th Edition, John Willy & Sons, 2010.
1)
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CSE 502: Control Systems (1)
Part-2 Digital Control:
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6)
7)
M. Sami Fadali and Antonio Visioli, “Digital Control Engineering:
Analysis and Design”, Academic Press (Elsevier) 2nd edition, 2013.
Edited by William S. Levine, “Control Systems Fundamentals”,
CRC Press Taylor & Francis Group, Section IV – Digital Control,
2011.
Ioan D. Landau and Gianluca Zito, “Digital Control Systems:
Design, identification, and Implementation”, Springer-Verlag 2006.
Additional Readings:
Wikibooks,
“Control
Systems”,
free
download
from
http://en.wikibooks.org/wiki/Control_Systems , 2013.
9) Derek P. Atherton, “Control Engineering Problems with Solutions”,
First edition, free download from www.bookboon.com , 2013.
10) Derek P. Atherton, “Control Engineering: An introduction with the use of
Matlab”, Second edition, free download from www.bookboon.com, 2013.
8)
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CSE 502: Control Systems (1)
Course Grading
Assignments (20)
Individual work
Micro Project (10)
Team work (2 or 3)
Final Exam (70)
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CSE 502: Control Systems (1)
Course Policies:
1. Assignments:
should be submitted on the due date.
2. Late assignments:
On time (100%), next day (90%), next 2 days (80%), next 3 days or
more (0%).
3. Collaboration:
You are encouraged to discuss the assigned problems/projects with
your classmates. But you are not allowed to talk about the final
solution itself or to show your solution to others. Every student has to
prepare his/her solution independently.
4. Preparing the final solution:
Please write your solution in a clear, readable, and concise form.
Every answer should be fully justified.
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Course Objectives

Provide a background concepts in control engineering

Study basic mathematical tools for analysis and design in control
engineering such as Laplace transform, transfer function, block
diagram, state space model, Z-transform, and stability analysis.

Use the root-locus technique in the analysis of control systems

Study the time domain analysis (State Space) and frequency
domain (Nyquist plots, Bode plots) analysis tools.

Design the industrial PID controllers to meet specific
performance requirements

Emphasize the use of MATLAB for analysis and design.
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Course Outline
Topic 1: Introduction to Control Systems
Topic 2: Mathematical Tools for Analysis
Topic 3: Representation and Sensitivity Analysis
Topic 4: Dynamic models for linear systems
Topic 5: Stability analysis
Topic 6: Root locus techniques
Topic 6: Time domain analysis (State Space Model)
Topic 7: Frequency domain analysis ( Bode and Nyquist plots)
Topic 8: Industrial control design (PID & RTS Regulators)
Topic 9: Practical considerations in control design
Topic 10: Embedded control systems
Topic 11: SCADA and DCS Systems
Topic 12: Recap
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Introduction to Control Systems
What is “a system”?
System is composed of a set of interacting
components (elements) stimulated or excited by an
external input to produce an external output
(System properties?).
What is “ a control”?
Control is a hidden technology in many
applications to stabilize the system and to
maintain its output close as possible to the
desired value.
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Introduction to Control Systems
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Primal
Dual
Linear
Nonlinear
Continuous-Time
Discrete Time
Time Invariant
Time Varying
Deterministic
Stochastic
Static
Dynamic
Causal
Non-Causal
Single input
Multi-input
Introduction to Control Systems
Input
Signal
Control
System
Output
Signal
Energy
Source
• Definition: The input is the stimulus, excitation, or command applied to a
control system in order to produce a specified response from the control
system.
• Definition: The output is the actual response obtained from a control
system.
• Definition: The parameter is the value of a component in the system, such
as mass, resistance, capacitor, … etc.
• Definition: The variable is the measured signal, such as current, volt, force,
position, …etc.
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Applications
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Applications
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Applications
Unmanned Ground Vehicles (UGV)
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Applications
Unmanned Aerial Vehicle (UAV)
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Applications
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Course Framework
Analysis
Control
Design
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Control Objectives
Main Objectives:
• Stability (Regulation)
• Performance (Tracking: transient response
and steady state response
SMART Objectives:
• Specific
• Measurable
• Achievable
• Realistic
• Timed
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Physical Systems
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Control Systems
• Thermal control system
• Flow control system
• Level control system
• Pressure control system
• Speed control system
• Position control system
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Complex Interconnected Systems
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Complex Interconnected Systems
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Open-loop Control (Feed-Forward control)
Program setting
(Input)
Laundry
Machine
Washed clothes
(Output)
A laundry machine washes clothes, by setting a
program. It does not measure how clean the clothes
become. Control without measuring devices (sensors)
are called open-loop control.
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Open-loop Control (Feed-Forward control)

Application: CD player, computer disk drive
Requirement: Constant speed of rotation
Open loop control system:

Block diagram representation:


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Closed Loop (Feedback Control)

Closed-loop control system:

Block diagram representation:
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Open loop and Closed loop
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Open loop
Closed loop
Isolated systems
Non-Isolated systems
More faster
Slower (time delay)
Less cost
More cost
Time constant
parameters
More robust
Car Control
Car driving system





Objective: To control direction and speed of a car
Outputs: Actual direction and speed of car
Control inputs: Road markings and speed signs
Disturbances: Road surface and grade, wind, obstacles
Possible subsystems: The car alone, power steering system, breaking
system
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Car Control

Functional block diagram:
Desired
course of
travel
+
Error
-
Driver
Steering
Mechanism
Automobile
Measurement, visual and tactile

Time response:
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Actual
course of
travel
Car Control
Controller + Actuator
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Position Control

Specification:
Speed of disk:
1800 rpm to 7200 rpm
Distance head-disk:
Less than 100nm
Position accuracy:
1 µm
Move the head from track
‘a’ to track ‘b’ within
50ms
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Level Control
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Speed Control of Steam Engine
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Human Body
- )85 ‫لا"( اإلسراء‬
ْ ‫ " َو َما أُوتِي ُتمْ مِنْ العِل ِْم ْإِ ْلا َقلِي‬:‫قال هللا تعالى‬
.‫) صدق هللا العظيم‬21 ‫" َوفِي أَنفُسِ ُكمْ أَ َفل ُتبصِ ُرونَْ”( الذاريات‬
Temperature

Regulated temperature around 37°C
Eyes
Follow moving objects
Hands
 Pick up an object and place it at a
predetermined location

Pancreas

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Regulates glucose level in the blood
Human Body
Temperature Control System
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Human Body
Blood-Glucose Concentration
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Human Body
Open loop control
(preprogrammed insulin
pump)
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Human Body
Closed loop control
(Artificial Pancreas)
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Control Mechanisms
1) The aim is to maintain a physical
variable at some fixed value in
presence of disturbances, which is
called process control.
Example: temperature, level,
pressure, flow, oil and gas industry.
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Control Mechanisms
2) The second class is the
Servo Control This is a
control system in which a
physical variable is required
to follow (track) some
desired time function.
Example: position control
of antennae , aircraft
landing system, or a robot
arm designed to follow a
required path in space.
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Control Mechanisms
3) Sequentially Controlled Systems


A series of defined tasks to be
performed.
Time-Driven
Each operation in the sequence is
performed for a certain amount
of time. May be open-loop
control.

Event-Drive:
Each operation is performed until
some event goal is reached.
Must be closed-loop control.
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Why Negative Feedback?
Positive
Feedback
Wall
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Wall
Sensors and actuators in control systems
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Sensors and actuators in control systems
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Feedback Control
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Feedback Control
Actuation
Decision
Sensing
Signaling
Goals
 Stability: system maintains desired operating point
 Performance: system responds rapidly to the desired changes
 Robustness: system tolerates perturbations in dynamics and
environment
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Computer-Controlled Systems
PLC
SCADA
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Computer-Controlled Systems
Prosthetic care goes back to the fifth Egyptian Dynasty
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Computer-Controlled Systems
Brain Controlled Artificial Leg
After losing his lower right leg in a
motorcycle accident in 2009, 32-yearold Zac Vawter has been fitted with an
artificial limb that uses neuro signals
from his upper leg muscles to control
the prosthetic knee and ankle. The
motorized limb is the first thought
controlled bionic leg, scientists at the
Rehabilitation Institute of Chicago,
reported in The New England Journal
of Medicine.
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Control Modes
Manual control:
The system is fully operated with human intervention.
This control mode is usually used in the case of: new
installation, maintenance, and complex operations (flight
take off/landing).
Automatic Control:
The system is fully operated without human intervention.
This mode is used in autonomous systems.
Semi-Automatic Control:
The system is operated with human intervention under
automatic safety protection.
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History of Automatic Control
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History of Automatic Control
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History of Automatic Control
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History of Automatic Control
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History of Automatic Control
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History of Automatic Control
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History of Automatic Control
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Future of Control Systems
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Journals in Control Engineering
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THANK YOU FOR YOUR ATTENTION!
wahid_ali@eng.asu.edu.eg
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