Control Systems Engineering

Course
Lecture 1
“Introduction”

Azeddien Mo. Salah Kinsheel

1.1 Introduction

In recent years, control systems have assumed an

increasingly important role in the development and
advancement of modern civilization and technology.
Practically every aspect of our day-to-day activities is
affected by some type of control systems. Control
systems are found in all abundance in all sectors of
industry, such as quality control of manufactured
products, automatic assembly line, machine-tool control,
space technology, robotics, weapon systems, power
systems, communication, chemical plants,
nanotechnology and more others. Even social and
economic systems may approached from the theory of
automatic control.

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 1.2 Definitions:
 System: An interconnection of elements and devices for
a desired purpose.
A system is not limited to physical ones. The concept of
the system can be applied to any dynamic phenomena. It
could be mechanical , electrical, biological, economical,
chemical ..etc.

Examples: cooling system, steering system, nuclear

system, traffic system.

1.2 Definitions:

Control System: An interconnection of components

forming a system configuration that will provide
a desired response.

A typical control system, basically has an input

,output and controllable system.

Figure1: Simplified Block Diagram of Control system

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 1.2 Definitions:

Examples of Automatic Control Systems:

Water Level Control system: Chemical Plants, Domestic
Water Tanks.
Temperature control system: Air conditioners,
refrigerators, Ovens.
Position Control System: CNC Machines, Robots, Lifts,
Conveyers.
Speed Control systems: Automobiles, Aircrafts.

Q1: what is the input and output of each of the above

control systems?

1.3 Control Systems Classification

Control systems can be classified on different
bases. Some of these classifications are:
 Linearity: Linear and Non-Linear Control
Systems.
 Structure: Time Variant and Time Invariant
Control Systems.
 Continuity: Continues and Discrete Control
Systems “Digital”.
 Configuration: Open Loop and Closed Loop
Systems “ feedback”.

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 1.4 Linear Control Systems
 Linear Control Systems: Is the system that satisfies the
properties of superposition and homogeneity.
y=f(x)
The Superposition theorem
Output If y1=f(x1), y2=f(x2)
Then y1+y2=f(x1+x2)
Y2
The Homogeneity theorem
Y1
If y1=f(x1), then y2=f( kx1 )=ky1
Input Y=mx Linear
X1 X2
Y=mx+B Nonlinear! why?
Figure 2: Input output relationship in
Linear Systems Y=x2 Nonlinear! why?

1.5 Time Varying Control System

 Time Variant Control systems :is the system that has
one or more parameters changing with time.

mx(t )  bx(t )  kx(t )  u(t )

Are m, b ,k constants or vary with time?

Mass Out

Example of Time Variant systems :

Missile mass decreases as it consumes fuel in trajectory.
Robot has a variable inertia as its parts move.

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 1.6 Continues and Discrete Control systems

 Continues control system: is the system in which all the

components are function of a continues time variable t.
 Discrete data control system: is the system in which one
or more of its variables are in form of pulse train or
digitally coded or can only be obtained at a discrete time
intervals called sampling time.

x(t) x(t)

t t
Figure 3: Continues and Discrete systems.

1.7 Open Loop and Closed Loop Control

Systems
 Open Loop Control System: is
the system in which the output Output
has no effect on the control Input
Control System
action.

Input Output
+
Control System
-
 Closed Loop Control system: is
the system in which the output Feedback
measurement is used to
develop the control action.
Figure 4: Open Loop and
Closed Loop Control Systems

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 Review Questions
 Why its important to study control systems?
 Sketch one of the control systems around you
and show how the action (signal) propagates
from the input to the output.
 Classify some of the control systems
around you.
 Which of the following systems are linear?
Y=3 x , y= 2 sin(t) , y=3 x’’ + 4 x’ , y=3 x cos(x)
 Compare open loop and closed loop systems