‫التحكم اﻵلي ‪ME330‬‬

‫د‪ .‬عبدالحميد محمد حواص‬

‫أهداف المقرر ‪Course objectives‬‬

‫تعريف الطالب بالمفاهيم اﻷساسية ﻷنظمة التحكم اﻵلي‬ ‫‪.1‬‬

‫تعريف الطالب بكيفية إجراء النمذجة الرياضية ﻷنظمة التحكم اﻵلي‬ ‫‪.2‬‬
‫تعريف الطالب بكيفية دراسة سلوك أنظمة التحكم اﻵلي في النطاق الزمني و الترددي‬ ‫‪.3‬‬
‫تعريف الطالب كيفية تصميم أنظمة تحكم بسيطة‬ ‫‪.4‬‬
‫تعريف‪ .‬الطالب كيفية إجراء المحاكاة‬ ‫‪.5‬‬
‫تعريف الطالب كيفية الدراسة العملية لنظام التحكم‬ ‫‪.6‬‬
 ‫المراجع والدوريات‬
‫المؤلف‬ ‫الناشر‬ ‫اسم المرجع‬ ‫عنوان المراجع‬

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‫مذكرات المحاضرات‬ ‫مذكرات المقرر‬

Norman Nise Wiley Control System Engineering ‫الكتب الدراسية المقررة‬

Katsuhiko Ogata Prentice Hall Modern Control Engineering ‫الكتب المساعدة‬

Richard C. Dorf & Addison

Modern Control System ‫الكتب المساندة‬
Robert H. Bishop Wesley
 Control Systems Classification
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”.
 Automatic Control I ME330/450

• Part 1
• Introduction, Laplace Transformer and Modelling

‫عبدالحميد محمد حواص‬.‫ د‬:‫إعداد‬

2022 /2021 ‫خريف‬

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8
 History

Water-level float regulator

9
 History
18th Century James Watt ’s centrifugal governor for the speed control of a steam engine.
1920s Minorsky worked on automatic controllers for steering ships.
1930s Nyquist developed a method for analyzing the stability of controlled systems
1940s Frequency response methods made it possible to design linear closed-loop control
systems
1950s Root-locus method due to Evans was fully developed
1960s State space methods, optimal control, adaptive control and
1980s Learning controls are begun to investigated and developed.
Present and on-going research fields. Recent application of modern control theory includes such
non-engineering systems such as biological, biomedical, economic and socio-economic systems
???????????????????????????????????

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1.1 Introduction

System – An interconnection of elements and devices for a desired purpose.

Control System – An interconnection of components forming a system configuration

that will provide a desired response.

Process – The device, plant, or system under

control. The input and output relationship
represents the cause-and-effect relationship
of the process.

11
 Introduction
Open-Loop Control System: is the system in which the output has no effect on
the control action.

12
 Examples of Modern Control Systems

13
Closed-Loop Control Systems : is the system in which the output
measurement is used to develop the control action.

14
 Introduction
Open-Loop Control System: is
the system in which the output
has no effect on the control
action.

Closed-Loop Control Systems :

is the system in which the
output measurement is used
to develop the control action.

Multivariable Control System

15
 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.

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 https//www.facebook.com/groups/ME330

17
 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?

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 Example 1
(a) Consider the simple expression
y = 0.5 x
We can graph the relationship between y and x as shown in Figure. We find that there is a
linear relationship between y and x. For every unit increment in x there is a
corresponding increment of 0.5 in y.

(b) Is this also true in the case where we provide an offset to the graph:
y = 0.5x +3
Although the graph is offset, the relationship is still linear since, as before, a unit
increment in x causes the same increment of 0.5 in y. This is more easily seen through
the block diagram where the offset is merely added to the linear representation.

3
x y x + y
+
0.5 0.5

(a) (b)
Linear systems
20Linear relationship between y and x.
 Time Varying Control System
• Time Variant Control systems :is the system that has
one or more parameters changing with time.

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

Input Output
+
Control System
-
• Closed Loop Control system:
is the system in which the Feedback
output 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

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 Differential Equations
• Differential Equation E. Q.: is an equation
where one or more of the function
derivatives are included.
Example

Are m, b ,k constants

Differential equations could be linear or non-linear

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 Solution of Differential Equations
• The solution of a
differential equation: is to
find the function x(t) that X(t)
satisfies the differential
equation. t
time

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 Laplace Transformer
• Laplace Transformer L.T. is a mathematical
method to solve linear differential equations, it
gives another way to analyze dynamic systems in
S plane ( a complex number plane).
• Definition: Laplace Transform for any function f(t)
is given by:

F ( s )   f (t ) e dt
 st

0
Where s is a complex number
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 Laplace Transformation by direct Integration

• Example
Find the L.T. of f(t)=t
by direct integration.
The solution:
 
F (s )   f (t )e st dt   te st dt
0 0
1  st  st
[ ( ste  e ) ] 
0
s 2

1

s2
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29
30
31
32
 Inverse Laplace Transform
• Given the L.T. F(s), the operation of
obtaining f(t) is called inverse Laplace
Transformation, and is denoted by:

f (t )  l 1[F (s )]

The inverse L.T. integral is given as:

c  j
1
f (t )  
st
F ( s ) e ds
2j c  j
Where c is a real number.

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 Partial Fraction Expansion
• The other way to find the inverse Laplace transform is
to use L.T. tables. F(s) functions which are not listed
in the table their inverse L.T. can be obtained using
partial fraction expansion method.
• In Partial Fraction Expansion the F(s) which is in the
form: Q(s) Q(s)
F (s)  
P(s) ( s  s1 )( s  s 2 )...( s  s n )

Which is could be arranged in the following form:

k1 k k
F ( s)   2  ...  n
s  s1 s  s2 s  sn
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 Partial Fraction Expansion
• Where ksi are called residues. The residues are calculated
depending on the nature of the poles
• Case I: For simple poles
 Q (s ) 
k s i   (s  s i ) 
 P ( s )  s si
Example: Find the inverse L. T. of the
following system: 5s  3
F (s) 
( s  1)( s  2)( s  3)
Solution:
k 1 k k
F ( s)    2  3
s 1 s  2 s  3

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 Partial Fraction Expansion
The residues K-1,k-2,k-3 are determined as follows:

5(  1)  3
k1  ( s  1) F ( s )  s  1   1 k 2  ( s  2) F ( s ) s  2 
5(2)  3
7
( 2  1)( 3  1) (1  2)(3  2)
5( 3)  3
k  3  ( s  3) F ( s )  s  3   6
(1  3)( 2  3)
Substituting by k-1,k-2 and k-3 in F(s)
1 7 6
F (s)   
s 1 s  2 s  3
Now from L.T. table we can
obtain the inverse L.T. of F(s)
as:
f (t )  e  t  7e 2t  6e 3t
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 Partial Fraction Expansion
• Case II: For Multiple order poles
Q( s ) Q( s)
F (s)  
P( s ) ( s  s1 )( s  s2 )...( s  sn )( s  si ) r

The expanded form of the above equation is:

k s1 k s2 k sn
A1 A2 Ar
F (s)    ...     ... 
s  s1 s  s 2 s  s n s  si ( s  si ) 2
( s  si ) r

Where the simple poles residue ki are calculated as in Case I and the
multiple order residues Ai are calculated as follows:

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 Partial Fraction Expansion


Ar  ( s  si ) r F ( s)  s   si

Ar 1 
d
ds

( s  si ) r F ( s)
s   si

Ar 2 
1 d2
2! ds 2
( s  s i ) r
F (s) 
s   si

A1 
1 d r 1
(r  1)! ds r 1
( s  si ) r
F ( s)  s   si

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 Partial Fraction Expansion
Example: Find the inverse L. T. of the
following system:
1
F (s) 
s ( s  1) 3 ( s  2 )

Solution:
Using the formula given in
Case ii, we get:
k0 k 2 A1 A2 A3
F ( s)     
s s  2 s  1 ( s  1) ( s  1) 3
2

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 Partial Fraction Expansion
The residues K0,k-2 are determined as follows:

1 1
k 0  sF ( s )  s  0  k  2  ( s  2 ) F ( s )  s  2 
2 2
And those of the third order poles:


A3  ( s  1) 3 F ( s )  s  1
 1

A2 
d
ds

( s  1) 3 F ( s )  s  1
d  1 
  
ds  s ( s  2)  s  1
0

A1 
1 d2
2! ds 2
( 
s  1) 3
F (s)  s  1

1 d2
2 ds 2
 1 
 s ( s  2)   1
  s  1

40
 Partial Fraction Expansion
Then:

1 1 1 1
F (s)    
2 s 2 ( s  2 ) s  1 ( s  1) 3

From L. T. Tables we get:

1 1 2t t 1 2 t
f (t )   e  e  t e
2 2 2
0t

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