Introduction

MEC709
CONTROL SYSTEMS
Instructor: Professor Sharifi
http://www.ryerson.ca/~fsharifi
Email: fsharifi@ryerson.ca
Office (EPH 318) Hours: Tuesdays 3:00 PM ‐ 5:00 PM
Textbook
Control Systems Engineering
Norman S. Nise
J. Wiley & Sons, 7th Edition, 2015
(c) 2019 Farrokh Sharifi 2
Textbook
• Q: Can we get previous editions?
• A: Yes but the problems and tables referred in
the course material will be to edition 7.
Assistants
• Zahra Samadi [section 2: Wed 2 pm‐4 pm, section 4: Thu 10 am‐12 pm]
zahra.samadikhoshkho@ryerson.ca , office: EPH335 ext. 7089,
office hours: Wednesdays 12 pm‐3 pm
• Shahab Ghorbani [section 1: Wed 2 pm‐4 pm, section 3: Thu 10 am‐12 pm]
sghorbani@ryerson.ca, Office: EPH335 ext 7089
office hours: Thursdays 1 pm‐2 pm
• Ali Mehrkish [section 5: Tue 6 pm‐8 pm, section 9: Tue 4 pm‐6 pm]
ali.mehrkish@ryerson.ca , office: EPH335 ext. 7089,
office hours: Tuesdays 1 pm‐2 pm
• Mostafa Fallah [section 7: Thu 2 pm‐4 pm]
mostafa.mohammad@ryerson.ca , office: EPH335 ext. 7089,
office hours: Thursdays 10 am‐11 am
• Somayeh Norouzi [section 8: Thu 2 pm‐4 pm]
somayeh.norouzi@ryerson.ca , office: EPH335 ext. 7089,
office hours: Thursdays 12:30 pm‐1:00 pm
• Ali Nazari [section 6: Tue 6 pm‐8 pm, section 10: Tues 4 pm‐6 pm]
aanazari@ieee.org, office: EPH335 ext. 7089,
office hours: Tuesdays 1 pm‐2 pm
4
Class Representatives:
d l
Counseling
• You need to book an appointment to see
professor and/or TAs BEYOND office hours.
• I cannot guarantee responding immediately to
non‐urgent emails beyond the office hours.
Material Needed
• Textbook
• Matlab‐Simulink
• We will walk you through Matlab‐Simulink and
using it to design control systems‐ Attend
tutorials and practice
Objectives
• To enable:
– Modeling and analysis of mechanical, and
mechatronic systems.
– Designing classical linear control systems
– Evaluating the performance of control systems
Evaluation
• Labs 10%
• Lab assessments/quizzes 5%
• Assignments (Quizzes) &
Tutorials 15%
• Midterm Test 20%
• Project 20%
• Final Examination 30%
• Bonus Surprise Quizzes 5%
Course Presentation
• In class writings
• Slides on www.my.ryerson.ca : D2L
– Course outline
– Assignments
– Solutions
– Labs
– Course Calendar
– Manuals
– etc.
Policies
• Deliver final report by the deadline in the class
or my office before 4 pm.
• Deliver lab report in the beginning of the next
lab to your TA, unless otherwise announced.
• Deadlines are listed in the Significant Dates
document. (have it handy)
• It is your responsibility to check the calendar
regularly for the due dates.
Policies (cont.)
• DO NOT Drop any material in the
course/professor locker/drop‐box. We will
NOT collect them. You will get 0 for it.
• 10% penalty per day for upto 5 days apply to
late deliveries. After 5 days, late submissions
will not be accepted.
• Submit medical documents to the office for
processing and contacting me.
Policies (cont.)
• Exams: open‐book BUT ONLY textbook and course slides are
allowed. You are not allowed to bring the material including
textbook and slides print‐outs with written solutions (of
assignments or external problems, etc.) on them. If you are
not sure, consult with your professor.
• Exams: If deviations from the above rule are detected, they
will be treated as academic misconducts.
• Project: Read the project description carefully. Many details
are there. Maximum of 3 people will be allowed per team.
The members should be from the SAME SECTION. Different
groups will have different requirements or parameters.
Policies (cont.)
• Passing the course: (a) achieve an overall score for the course
of 50% or higher, AND (b) obtain passing grade in the
weighted combination of midterm and final exam AND (c)
achieve at least 50% in the weighted combination of all lab
works and lab assessments.
• All of the quizzes (except lab quizzes) will be held during the
tutorials.
• It is very important and mandatory to attend tutorials and
labs and improve your analytical and problem solving skills.
Policies (cont.)
• Project: Each will be also required to assess its members
according to the main evaluation categories outlined in the
project description. A complaint must be reported as early as
possible. Late complaints regarding team members might not
be accepted.
• Labs: Lab attendance is absolutely mandatory. 100% deduction
will be applied to missing labs (means 0 for each missing lab).
Lab quizzes are also scheduled and will be held (5%).
• Tutorials: Tutorial attendance is also mandatory (0.5% per
tutorial). 100% deduction will be applied to missing tutorials
(means 0 for each missing tutorial)
• Assignments: We will hold each quiz based on two
assignments.
Instruction Team‐Students
Communication
• We will provide timely feedback on your course work
as fast as possible.
• You are encouraged to report course issues to me,
your TA, or to your class Rep. I welcome your
constructive suggestions!
• I may run a few internal anonymous assessment of
the course teaching, for continuous improvement
and communication.
Ground Rules
• No cell phones
• No distractions: facebook, chatting, etc.
• Be present
• Be on time
• Be positive and constructive
• Provide opportunity for everyone to speak
Project
• Posted.
• Form your group NOW within your section,
give names, and name of the group to your TA
by the first lab NEXT WEEK. Same as your lab
group.
• Maximum of 3 people/group.
Labs
• Prepare for labs before arrivals.
• Pre‐lab quizzes might be held based on pre‐
lab problems in the lab manuals.
• No lab credit for missing the labs.
Introduction
Chapter 1
(c) 2019 Farrokh Sharifi
Introduction
• Objectives of chapter:
– Understanding the impact of control systems
– Understanding control systems classifications
– Understanding feedback control system components
– Familiarization with control system design and analysis steps
Introduction
Numerous applications of control systems are all around us:
• Smart Transportation Systems:
- Climate control
- Cruise control
- Anti-lock braking systems (ABS)
- Active suspension
- Traction control (to prevent wheels from spinning during
acceleration)
- Active sway bars (to provide controlled rolling)
- Navigation control
Introduction
• Self-driving Car Control
https://www.youtube.com/watch?v=cVbzCrdTg2o
https://www.youtube.com/watch?v=mP05-KPhahg
• ATC (automatic traction control)

http://www.youtube.com/watch?v=txzj28MOeQo
• Automatic Reservoir Monitoring and Control (ARMAC)

http://www.youtube.com/watch?v=6wxDApKXGTg
• Sophisticated Flight Control

https://www.youtube.com/watch?v=W6hN2iO2VA4&list=UUbwp5
B-uDBy-fS4bDA0TEaw
Introduction
• Machining tools: improved precision and

productivity by controlling chatter
• Robots: enable faster motions for

accuracy and autonomy
• Biomedical systems: artificial muscles, drug delivery

systems
• Aerospace: control of aerodynamic surfaces

unmanned aerial vehicles
Introduction
• Construction/Civil: To control vibration and wind rejection
World tallest building in Dubai
• Optics: deformable MESM-actuated

mirrors in modern telescopes for
enhanced projection
Introduction
• Surgery: robotic surgery for precision
• Fluidics (Hydraulics):
• Chemical Process:
Introduction
• Home electronics:
• Power engineering:
Introduction
Has been around for many years but has grown recently with the
advancement of digital control and computers:
• Traditional Pressure control:
• Windmill control:
Introduction
• Water Clock:
Introduction
• Can you name a major moving product that is not controlled?
• Why do you need to learn control systems and learn it well?
Introduction
• Why do you need to learn control systems and learn it well?
– By the nature it is multidisciplinary, meaning that can be used in many

fields. You are not limited to mechanical engineering domain (see
previous application slides).
– With increasing automation in many domains (house to factories) the need
for control engineers will increase.
Introduction
What is a control system?
• Purpose: obtain a desired output with desired performance given

a specified input
• Composed of subsystems and processes (plants)
(class example?)
Introduction
Example of Control system: An elevator
• A passenger on the first floor presses the forth-floor button

• Input = forth-floor button
• Desired output = elevator rise to forth-floor
• Control system objectives:
– speed
– floor-leveling accuracy
Introduction
Example of Control system: Steering a car
Process:
steering mechanism and
dynamics of automobile
Inputs or actuating signals Outputs or controlled variables

u y
Direction of steering wheel Direction of two front wheels
Introduction
Introduction
Control system example  An elevator
• Performance measures:
(1) Transient Response (speed) – passenger comfort vs. passenger patience
(2) Steady State Error (floor-leveling) – for passenger safety and
convenience, floor-leveling accuracy is desired (minimal error)
Introduction
Advantages of control systems:
• Power amplification
• Remote control
• Convenience of input form
• Compensation for disturbances

History and Examples
• http://www.youtube.com/watch?v=NCLm8pY0EQI (history)
• http://www.youtube.com/watch?v=wE3fmFTtP9g (Wild cat)
A History of Control Systems
Liquid-Level Control:
• In 300 B.C. Greek engineer Ktesibios

created a water clock
– used feedback control
– water trickled into measuring container at constant rate
– used a float to maintain supply tank at constant level
• Philon of Byzantium applied liquid-level control
to an oil lamp
– two oil containers configured vertically
– as oil burned, the base of the tube was exposed to air
which forced oil from the reservoir to the pan
– oil transfer stops once the previous oil level in the pan
was reestablished
Steam Pressure and Temperature Controls:
• Boiler safety valve:

– excessive pressure in the boiler would
exceed the weight on the valve top causing
the valve to open and venting excess stream
– if the pressure did not exceed the weight, the valve did not open
– The weight on the valve top set the internal pressure
• Incubator temperature control:
– used a floater inserted into a vial of alcohol and mercury
– floater connected to a damper controlling a flame
– as heat increased, mercury expanded, damper closed, flame reduced
– as heat decreased, float descended, damper opened, flame increased
Speed Control:
• 1745 - Windmill speed control:

– stronger winds forced the blades back,
reducing surface area
– As winds decreased, the original surface
area was reestablished
• 1769 - James Watt – flyball speed governor:
– used to control the speed of steam engines
– two spinning flyballs rise as rotational speed
increases
– steam valve opens and closes with ascending and
descending flyballs
– 1868 Maxwell develops mathematical model of
governor control.
James Watt Speed Governor
Stability, Stabilization, and Steering:
• 1874 – Ship steering and stabilization

– Henry Bessemer used a gyro to sense a ship’s motion
– the ship was kept stable by applying power generated by the ship’s
hydraulic system to move the ship’s saloon
– Additional work was done to stabilize platforms for guns as well as to
stabilize the entire ship using pendulums
Twentieth-Century Developments:
• 1922 – The Sperry Gyroscope Company developed

automatic steering systems for ships
• 1920s – Nicholas Minorsky developed what we call today
proportional-integral-derivative (PID), or three-mode,
controllers (studied later in the course)
• 1930s – Bode and Nyquist developed the analysis of
feedback amplifiers. Bode and Nyquist plots for analyzing
stability.
• 1941 – Creation of the first anti-aircraft gun with active
control.
• 1948 – Walter Evans created a graphical technique to plot

the roots of a characteristic equation of a feedback system;
this is now known as the root locus (also studied later in this
course)
• 1952 – NC (numerical control) was introduced by MIT for
control of machine tool axes.
• 1957 – George Devol develops first “programmed article
transfer” (first industrial robot).
• 1957 – Sputnik is launched by USSR through
miniaturization of the computers and advances in control
theory in time.
• 1960 – Unimate introduces the first industrial robot based on
George Devol’s work.
• 1970 – State variable models and optimal control was developed.
• 1980 – Robust control system design was studied.
• 1983 – Introduction of PC brought new control design tools.
• 1990 – Manufacturing automation was emphasized.
• 1995 – GPS was introduced for further automation.
• 1997 – First autonomous rover, Sojourner, explores Martian
surface.
• 1998-2003 – First automated micro- and nano-machines were
created.
• 2007 – The orbital Express mission performed first autonomous
space rendezvous and docking.
• 2015- Autonomous driverless cars went under testing
45
Contemporary Applications:
• Guidance, navigation, and control of missiles and spacecraft

• Regulating liquid levels in tanks, chemical concentrations,
and thickness of fabricated material in process control
industries
Contemporary Applications:
• Home heating-systems consisting of a thermostat

• Home entertainment systems (DVD/BluRay players)
Example: Sun-Tracking of Solar Collectors
48
System Configurations
Two types of control system configurations:
• Open-Loop Control Systems
• Closed-Loop Control Systems
Open-Loop Control Systems:
• Input transducer – converts the form of the input to that used by the
controller (e.g. keypad)
• Controller – drives the process (e.g. furnace valve)
• Process or Plant – the mechanism responsible for achieving the desired
output (e.g. hot water heater)
• Disturbances – undesired noise externally added to the system (e.g. wind
hitting an antenna)
Open-Loop Control Systems:
• Disadvantage – the system cannot compensate for any

disturbances that add to the controller’s driving signal or
disturbances at the output
• Advantage – simple and inexpensive
Closed-Loop (Feedback) Control Systems:
• Output Transducer – measures the output response and converts it into

the form used by the controller (e.g. potentiometer)
• Error or Actuating Signal – the arithmetic difference between the output
and reference values caused by parameter variations and disturbances
Closed-Loop (Feedback) Control Systems:
• Advantages: - reduce the effect of parameter variations

- reduce the effect of disturbances
- improve transient response characteristics
- improve steady-state response
• Disadvantages: complex and expensive
Example: Open Loop Control
No sensor, no feedback to calculate error!
Economical but inaccurate!
Example: the only way to maintain speed is to adjust throttle angle!
A linkage, filter, etc.
Example: Closed Loop (Feedback) Control
One or more sensors, feedback(s) to calculate error!
Many advantages over open-loop control!
Example: closed loop throttle control, cruise control
Example: Closed Loop vs Open Loop Control
Example: Open Loop Control
Disk control
Example: Closed Loop Control
Disk control
Example: Open vs Closed Loop Control
Glucose control
Example of Closed-Loop Control
Boiler-generator control
Disk head control
Disk head control
Types of Control System
• Open-loop vs Closed loop 
• Linear vs Nonlinear
• Time-invariant vs Time-varying
• Discrete (digital)-data control vs Continuous (analog)-data
• Purpose: position, velocity, acceleration control, …..
Linear vs Nonlinear
• Nonlinear: most of real-life systems
• Linear systems: system components exhibit linear
performance in a range of signals
– The first step in control system design
– Nonlinear effects can be considered next
– The focus of this course
– Wealth of material available for analysis
Time-invariant vs Time-varying
• Parameters of control change over time
• Example: Mass of missile decreases as the fuel is consumed
• Example: The winding resistance of motor will vary when the
motor is first being excited and temperature rises.
Continuous-Data Control
fig_01_12
Discrete-Data Control
Signals at one or more points are in the form of either a pulse or a digital
code (Sampled-data control and digital control)
Sampled-data control: receives data intermittently (e.g., series of

pulses)
Advantages: (1) Expensive equipment might be time-shared among
several channels (2) Pulses are less susceptible to noise.
Digital Control
Digital control: computers offer many advantages: size, flexibility,
expense.
Example: Digital autopilot for guided missile control.
Analysis and Design Objectives
• Analysis – the process by which a system’s performance is

determined
• Design – the process by which a system’s performance is
created or changes
A control system is dynamic – it responds to an input by

undergoing a transient response before reaching a
steady-state response that generally resembles the input
Major objectives of system analysis and design:
1) Producing the desired transient response

2) Reducing the steady-state error
3) Achieving stability
70
Transient Response:
• The response of the system to a change from equilibrium

– Depending on the purpose of the system, it may be desired for this
response to be fast or slow
– In many system, transient response has a direct impact on
steady-state error and stability (dependent)
71
Steady-State Response:
• Attempts to achieve the input command

• Usually what remains after the transients have decayed to zero
• Accuracy of the steady-state response (steady-state error) is a concern
and it is often desired to be minimized
72
Stability:
• Total response of a system is the sum of the natural response

(homogenous solution) and forced response (particular solution)
– Natural response – describes the way the system dissipates or acquires energy; the
form is dependent only on the system, not the input
– Forced response – response is dependent on the input
Total Response = Natural Response + Forced Response
73
Stability:
• For a control system to be useful, the natural response must:

1) Eventually approach zero, thus leaving only the forced response, or
2) Oscillate
• In some systems, the natural response grows without bounds resulting in
instability which could lead to self-destruction of the device
Other Considerations:
• Factors affecting hardware selection (e.g. transducer

resolution)
• Financial considerations including budget allocations and
competitive pricing
• Robust design – the systems sensitivity to parameter changes
The Design Process
The Design Process Flow:
Step 1 – Transform requirements into a physical system

Step 2 – Draw a functional block diagram
Step 3 – Create a Schematic
Step 4 – Develop a mathematical model (block diagram)
Step 5 – Reduce the block diagram
Step 6 – Analyze and design
The Design Process
Step 1 – Transform requirements into a physical system:
• Develop, pictorially if possible, the physical system that would most

accurately generate the desired outcome based on the defined requirements
Example: Antenna Azimuth

Requirement: position the antenna
from a remote location and describe
such features as weight and
physical dimensions
LEADS TO
Design Specifications: desired

transient response and steady-state
accuracy
The Design Process
Step 2 – Draw a Functional Block Diagram:
• Translate the qualitative description of the system into a functional block

diagram that describes the component parts of the system and shows their
interconnection
Example: Antenna Azimuth
The Design Process
Step 3 – Create a Schematic:
• The description of the physical system, from Step 1, is transformed into a

schematic diagram
• Approximations about the system and the neglecting of certain phenomena
must be established during this step to lower the system’s complexity
Example: Antenna Azimuth Assumptions:
-Potentiometer – neglect friction
and inertia (instantaneous sensing)
- Amplifiers – rapid compared to
response time of the motor (model
as a pure gain K)
- DC Motor – effect of the armature
inductance is negligible (only
resistance is considered)
- Etc. 79
The Design Process
Step 4 – Develop a Mathematical Model:
• Use physical laws, along with simplifying assumptions, to model the

system mathematically
– Kirchhoff’s laws for electrical networks
– Newton’s law for mechanical systems
• The mathematical models will describe the relationship between the input
and output of dynamic systems
Example: linear, time-invariant differential Example: transfer function derived using

equation Laplace transform
 Relates output, c(t), to input, r(t)  Relates output, C(s), to input, R(s)
The Design Process
Step 4 – Develop a Mathematical Model:
• Why do we use transfer function through this course?
– Applied to linear systems.

– Provides more intuitive information than differential equations.
– We will be able to change system parameters and sense the effects of
these changes on the system output.
– Makes it easy to model interconnections of the system by having a
mathematical functions inside each block.
The Design Process
Step 5 – Reduce the Block Diagram:
• Reduce the large system’s block diagram (Step 2) to a single block with a
mathematical description
– this represents the system from its input to its output
• Separates signals which are internal to the system (e.g. proportional
voltage and error) with signals which are external to the system (e.g. angular
input and output)
The Design Process
Step 6 – Analyze and Design:
• Analyze the system to see if the

response specifications and
performance requirements can be
met by simple adjustments of
system parameters
• Standard test inputs are selected to
verify the design
– impulses, steps, ramps, parabolas,
and sinusoids
Summary
• We learned about the course structure
• Concept of control systems and examples were introduced
• Architecture and elements of control systems were given.
• Objective of the course was provided.

Introduction

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MEC709

• ATC (automatic traction control)

• Automatic Reservoir Monitoring and Control (ARMAC)

• Sophisticated Flight Control

• Machining tools: improved precision and

• Robots: enable faster motions for

• Biomedical systems: artificial muscles, drug delivery

• Aerospace: control of aerodynamic surfaces

• Construction/Civil: To control vibration and wind rejection

World tallest building in Dubai

• Optics: deformable MESM-actuated

• Surgery: robotic surgery for precision

• Traditional Pressure control:

• Why do you need to learn control systems and learn it well?

– By the nature it is multidisciplinary, meaning that can be used in many

• Purpose: obtain a desired output with desired performance given

• A passenger on the first floor presses the forth-floor button

Inputs or actuating signals Outputs or controlled variables

• Convenience of input form

• Compensation for disturbances

• In 300 B.C. Greek engineer Ktesibios

• Boiler safety valve:

• 1745 - Windmill speed control:

James Watt Speed Governor

• 1874 – Ship steering and stabilization

• 1922 – The Sperry Gyroscope Company developed

• 1948 – Walter Evans created a graphical technique to plot

• Guidance, navigation, and control of missiles and spacecraft

• Home heating-systems consisting of a thermostat

• Open-Loop Control Systems

• Closed-Loop Control Systems

• Disadvantage – the system cannot compensate for any

• Advantage – simple and inexpensive

• Output Transducer – measures the output response and converts it into

• Advantages: - reduce the effect of parameter variations

Disk head control

Disk head control

Sampled-data control: receives data intermittently (e.g., series of

Example: Digital autopilot for guided missile control.

• Analysis – the process by which a system’s performance is

A control system is dynamic – it responds to an input by

1) Producing the desired transient response

• The response of the system to a change from equilibrium

• Attempts to achieve the input command

• Total response of a system is the sum of the natural response

Total Response = Natural Response + Forced Response

• For a control system to be useful, the natural response must:

• Factors affecting hardware selection (e.g. transducer

Step 1 – Transform requirements into a physical system

• Develop, pictorially if possible, the physical system that would most

Example: Antenna Azimuth

Design Specifications: desired

• Translate the qualitative description of the system into a functional block

Example: Antenna Azimuth

• The description of the physical system, from Step 1, is transformed into a

• Use physical laws, along with simplifying assumptions, to model the

Example: linear, time-invariant differential Example: transfer function derived using

• Why do we use transfer function through this course?

– Applied to linear systems.

• Analyze the system to see if the

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