Control Lect1

1
Dr. Ayman A. El-Badawy

Department of Mechatronics Engineering
Faculty of Engineering and Material Science
Control Engineering
Introduction to Control Theory
And Dynamics of Mechanical Systems
(Free Response)
German University in Cairo
Organization
Lectures and tutorial:
please refer to the schedule.
Textbook
G. Franklin, J. Powell, and A. Naeini, Feedback Control of Dynamic
Systems, 6th edition, 2010.
slides and tutorials on intranet
Assessment
Midterm Exam 30%
Final Exam 40%
Quizzes 20%, Assignments 10%
2
Organization
Teaching Staff
Office C7.112
ayman.elbadawy@guc.edu.eg
TAs: Eng. Mary Victor
Eng. Ahmed Khalil
Eng. Ahmed Wafik
Course Overview
Topics
Course introduction. Closed and open loop control
systems. Examples of closed-loop control systems.
Dynamics of mechanical systems: free and forced
response
Laplace Transform
Mathematical modeling of electrical, and electromechanical
systems.
Transfer function representation.
Transient and steady-state response analysis.
Stability analysis in the complex plane. Routh-Hurwitz
stability criterion.
3
Course Overview
Topics
Root-locus analysis.
Control system design by the root-locus method. Lead, lag
and lag-lead compensation.
Bode Plots.
Stability analysis, steady-state error.
Control system design by frequency response.
Compensation techniques.
What is a System?
For the purposes of this course, a system is an abstract object that
accepts inputs and produces outputs in response.
Systems will also be referred to as plants or processes.
Examples: Circuit, DC Motor,
4
What is Control?
The field of control systems deals with applying/choosing the inputs to
a given system to achieve a desired output.
Key concept: Feedback Control
The input to the system depends in some way upon the output of the
system. This is also called a closed loop system.
Basic block diagram of a feedback control system:
Basic block diagram of a feedback control system:
controller actuator process
input or
reference
disturbance
_
+
E
sensor or
output transducer
sensor noise
control
signal
plant summing junction
or comparator
error or
actuating signal
output or
controlled
variable
5
Example
Basic operation of a car cruise control system:
Sensors (speedometers) in the car measure the current speed.
The controller in the car uses these measurements to produce
control signals (corresponding to the throttle angle).
The control signals affect the speed of the car via actuators (i.e., the
engine).
Other examples of feedback control systems:
Aerospace, Computer disk drives, Manufacturing systems, Economic
systems (choosing interest rates based on current inflation,
unemployment, growth, etc.), Biological systems (the human body)
Hence, control is prevalent everywhere, but not always obviously so (it
is a hidden technology).
In this course, rather than attempting to discuss each specific
application, this course will deal with the underlying mathematical
theory, analysis, and design of control systems.
What is covered in this course?
The trajectory of the course (LTI) will be as follows.
Modeling: Before we can control a system and make it behave in a desired
manner, we need to represent the input-output behavior of the system in a form
that is suitable for mathematical analysis.
Analysis: Once we understand how to model systems, we need to have a basic
understanding of what the model tells us about the systems response to input
signals. We will also need to formulate how exactly we want the output to get to
its desired value (e.g., how quickly should it get there, do we care what the
output does on the way there, can we be sure that the output will get there, etc.)
Design: Finally, once we have analyzed the mathematical model of the system,
we will study ways to design controllers to supply appropriate control (input)
signals to the system so that the output behaves as we want it to.
6
Simple Feedback System
Ex.1: Room temperature control system
Example 2: Simple Cruise Control:
Through measurements, we observe:
1. At level road and speed 65 mph. 1
o
change in throttle angle (our control
variable) causes a 10 mph change in speed.
2. Grade change (road slope) by 1
o
speed change of 5 mph.
Component block diagram of automobile cruise control
7
Open-Loop cruise control
( )
|
.
|
\
|
= = w
r
w u y 5 . 0
10
10 5 . 0 10
ol
w r 5 =
w y r e
ol ol
5 = =
. 5
. 60 1 and . 65 if
. 65 0 and . 65 if
ol
ol
ol
mph e
mph y w mph r
mph y w mph r
=
= = =
= = =
No use of speedometer and let (set) u =
10
r
8
Closed-Loop Cruise Control
r
w
k
u
10
Controller
0.5
Plant
+

y
Combining them yields
( )
cl
cl
y r k u
w u y
=
= 5 10
( )
( )
k
w
k
kr
y
w kr y k
w ky kr y
w y r k y
cl
cl
cl cl
cl cl
10 1
5
10 1
10
5 10 10 1
5 10 10
5 10
+
+
=
= +
=
=
9
mph 3 . 64 1
mph 35 . 64 0 and 65
0495 . 0 99 . 0 : 10 for
. mph 64 . 58 1
. mph 1 . 59 0 and 65 for
455 . 0 9091 . 0 : 1 for
= =
= = =
= =
= =
= = =
= =
cl
cl
cl
cl
cl
cl
y w
y w r
w r y k
y w
y w r
w r y k
Modeling
A. Mechanical Systems
The key equation governing the model of many mechanical systems
is Newtons Law: F = ma. In this equation, F represents the vector
sum of all the forces acting on a body, m represents the mass of the
body, and a represents the acceleration of the body.
Example 1: The Pendulum
= =
2
0 0 0
, M ml J J o
( ) ( ) ( ) ( ) 0 sin sin
2
0
= + =

force
restoring
t mgl t ml t mgl t J u u u o
We can linearize the equation by using
the approximation
( ) ( ) ( ) ( ) 0 0
2
= + = + t
l
g
t t mgl t ml u u u u

sinu ~u
10
Truncated Taylor Series
( )
( ) ( )
( )
( )
( )
( )
( )
( )

. deviations small and 1 n for 0
o
z - z because
zero, be to assumed be can ms linear ter Non
2
2
2
2
1

function of form linear

ms linear ter
expansion series Taylor
then , point operating and Function Assume
0
> ~
+
=
+
=
+ =
=
+ =
|
.
|
\
|
|
.
|
\
|
|
.
|
\
|
n
o
z z
o
z z
dz
z f d
o
z z
o
z z
dz
z df
o
z f z f
o
z z
o
z z
dz
z df
z f z f
x x f
o
Ex.2: Spring-Mass System
Newtons Law:
Again a 2nd order ordinary differential equation
(1.2)
( ) ( ) ( ) ( )
( ) ( )
0 0
0 , 0
0
v x x x
t kx t x m t kx t x m
= =
= + =

11
Solving the ODE (Polar Form)
The ODE is
The proposed solution:
Into the ODE you get the
characteristic equation:
Giving:
0 ) ( ) ( = + t kx t x m
t
ae t x

= ) (
0
2
= +
t t
ae
m
k
ae

m
k
=
2
m
k
j =
Solving the ODE (contd)
The proposed solution becomes:
For simplicity, lets define:
Giving:
We have to have real solutions because we live in the real world
Problem becomes: how from this general expression do I get the
real solutions?
t
m
k
j t
m
k
j
e a e a t x

+ =
2 1
) (
m
k
n
= e
t j t j
n n
e a e a t x
e e
+ =
2 1
) (
12
Note that in general a
1
and a
2
are complex numbers and not
necessarily real numbers.
Then the proof would be
1. to expand into sines and cosines then the real part is a solution
and the imaginary part has to be zero.
2. Take the complex conjugate of one expression, if the expression
stays the same then it must be real, i.e. imaginary part = 0.
Example:
Want the two expressions to be the same in order for the solution to be
real, therefore:
( ) ( ) ( ) ( )t bj a t bj a t bj a t bj a
e a e a cc e a e a
+ +
+ +
*
2
*
1 2 1
condition) (redundant and
1
*
2
*
1 2
a a a a = =
Therefore one has to be the complex conjugate of the other.
Remember:
( ) ( ) ( )
( ) ( )
constants. valued - real are and re whe
sin cos
sin 2 cos 2
2 1
2 1
*
1 1
A A
t A t A
t d t c
e e jd e e c
e jd c e jd c e a e a t x
n n
n n
t j t j t j t j
t j t j t j t j
n n n n
n n n n
e e
e e
e e e e
e e e e
+ =
=
+ + =
+ + = + =

j
e e
a
e e
a
ja ja ja ja
2
sin ;
2
cos
: Formula Euler of version Backward

=
+
=

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Dr. Ayman A. El-Badawy

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