Administrative Topics: CISE305: Linear Control Systems

CISE305: Linear Control Systems
0. Administrative Topics
Dr. Abdul-Wahid AL-Saif
CISE305_Lecture 0 AL-Saif 1
Contents
 Instructor Contacts and Office Hours

 Textbook
 What I expect from you
 Rules and Regulations
 Method of Evaluation
CISE305_Lecture0 AL-Saif 2
Prof. Abdul-Wahid AL-Saif
Office Hours:
Sun, Tue: 11:30 -12:15 Noon
Mon, Wed: 2:00-2:30 PM
By appointment
Office: 22-(437)
Tel: 860-2407
Email:
awsaif@kfupm.edu.sa
use the Blackboard email
Textbook
 Dorf and Bishop, Modern Control
Systems 13th Ed. 2017
 References :
 Close, Frederick and Newell. Modeling and
Analysis of Dynamic Systems, 3nd edition,
John Wiley, 2002.
 Norman S. Nice. Control Systems
Engineering, John Wiley & Son, 4th Ed.
2003
What I expect from you
 Lectures
 Attend to the lecture on time.
 Do not talk about your love life or answer your
mobile phone. (Switch to silent mode!)
 Ask or to be asked
 Homework/Project
 Do it by yourself
 Don’t be late. Late submission is unacceptable
 Take the initiative and learn something !

Rules and Regulations
· No make up quizzes
· DN grade == 6 unexcused absences
· Homework Assignments are due to the
beginning of the lectures.
· Absence is not an excuse for not
submitting the Homework.
· No communication devices during lectures.
You may be counted absent if you do so
Rules and Regulations
 No communication devices during

quizzes or exams. It may be considered
a cheating case
Grading Policy
 Midterm (35%),
 Final Exam (35%)
 HWs (10)
 Quizzes (15%)
 Attendance 5%, penalty for late
attendance
 Note: No absence, late homework
submission allowed without genuine
excuse.
Why do we study control systems?
CISE305: Linear Control Systems
1. Introduction to Control Systems
Dr. Abdul-Wahid A. AL-Saif
What do these two have in
common?
 Highly nonlinear, complicated dynamics!

 Both are capable of transporting goods and people over
long distances
BUT
 One is controlled, and the other is not.
 Control is “the hidden technology that you meet every day”
 It heavily relies on the notion of “feedback”
The Course Goal
Learn how to model, analyze and

design linear control systems
Course Objectives
The students will learn to
1. model mechanical and electrical systems.
2. use Laplace transform to solve linear
dynamical systems.
3. find transfer functions using signal flow graph
4. analyze the stability using Routh-Hurwitz
method.
5. characterize transient and steady state
response of linear systems.
Course Objectives (cont.)
6. analyze and design linear control systems
using Root locus
7. PID controller Design
8. analyze, design controllers and simulate
dynamical systems using MATLAB and
SIMULINK.
9. implement controllers for pilot scale
b
La
processes.
e
th
In
Course Outlines
1. Introduction to Control Systems
2. Modeling of Dynamical Systems
1. Mechanical
2. Electrical
3. Laplace Transform
1. Review of complex variables
2. Laplace Transform, properties
3. Inverse Laplace Transform
4. Solution of Ordinary Differential Equations
5. Transfer functions
Course Outlines
4. Block Diagrams and Signal Flow
Graphs
 Block diagrams and manipulation
 Signal Flow Graphs
5. Analysis of Control Systems
 Test Signals: step, impulse, ramp , sinusoidal
 Effect of feedback on transient response
 Disturbance reduction
 Effect of feedback on steady state error
Course Outlines
6. Time Response of Control Systems:

 Time domain specifications in transient
and steady state requirements
 Response of first order systems
 Response of second order systems
 Response of higher order systems
 Steady state analysis and error constants
Course Outlines
7. System Stability and Root locus:

 Concept of stability
 Routh-Hurwitz stability criteria
 Stability of feedback control systems
 Design Example
 Introduction to root locus: concept and

procedure.
Course Outlines
8. PID controller Design

 Introduction to PID
 Guidelines for PID design
 Ziegler Nichols methods
Systems
 A system is any set of interrelated
components acting together to achieve a
common objective.
 Each system has a process (Plant),
inputs and outputs
inputs Process outputs

(Plant)
Example
 You could think of a car as a “system".

The inputs are the positions of the
steering wheel, gear shift lever, gas,
brake and clutch pedals. The output is
the position of the car.
Block Diagram Representation of Systems
inputs Process outputs

(system)
Inputs are signals that affects Outputs are measured or

the system variables calculated variables
Represented by arrows
entering the system Shown as arrows leaving
the system
Process represent the relationship

between inputs and outputs
What is Control?
 Control is a term that describes the

process of forcing a system to behave in
a desired way in order to achieve certain
objective(s)/goal(s).
 Control is the process of making a
system variable adhere to a particular
value, called the reference value.
Control Systems
 A group of actions assembled in such a

way to regulate some outputs at their
desired levels.
 used to increase productivity and
improve performance of systems.
Control Engineering Now
 Control Engineering is becoming an

important field
 Engineers from different disciplines
(Electrical Mechanical, Aerospace,
Chemical,…) are learning about control
engineering
 Applications continue to grow and
spread
Control Systems in modern societies.
 Control Systems Applications include

 Petrochemical plants,
 airplanes,
 cars,
 air-conditioning systems
 Weapons
 ….
Biological systems use control
systems
 Control body temperature
 Control the Glucose Level
 Control is used to help us walk, move,
see, write, play,
 Techniques of control engineering
have been used in many areas.
 To control inflation
 To control unemployment rate.
Classification of control Systems
1. Open loop –Closed loop

2. Linear-Nonlinear
3. Continuous-Discrete
Open loop Control Systems
 An open loop control system consists of three basic

components:
 Control Element: Determines the action needed
for the given input
 Correction Element: initiate action to change the
variable to be controlled
 Process: the system of which a variable is being
controlled
input Control Correction process output

Element Element
Closed Loop Control Systems
 A closed loop control system consists of five basic

components:
 Comparison Element: Compares required value
and actual value
 Control Element: Determines the action needed
based on the value of the error
 Correction Element: produce the change in the
process to reduce the error
 Process: the system of which a variable is being
controlled
 Measurement Element: Produces a signal that
represent the value of controlled variable
input Control Correction process output

Element Element
_
Measurement
Element
 The variables associated with closed loop
control systems are defined as
 Controlled Variable: The variable that is measured
and being maintained at a desired value.
 Manipulated Variable: the variable that is
varied by the controller.
 Feedback signal: The output of the measurement
device
 Set point: the input value applied to the loop. It is
the desired condition to the controlled variable.
Example
 Back to the car example. You could think of yourself as
the controller. You alter the manipulated variables
signals (the positions of the steering wheel, pedals,
etc) so that the car follows a desired trajectory
(controlled variable).
Air Craft Example
Feedback Control System
 In general
 Main Components:
 Plant: Process + Actuator
 Controller
 Sensor
 Disturbance
Control Systems in Nature
 Pancreas:
 regulate blood sugar.
 Adrenalin
 automatically generated to increase heart rate and
oxygen intake in times of flight.
 Eyes
 able to follow a moving object.
 Hand:
 able to pick up an object and place it at a
predetermined location
Historical Examples
 Ancient Greece [1 – 300 BC]: water float

regulation, water clock, automatic oil lamp.
 18th Century: James Watt – Flyball
governor
 Late 19th Century to mid 20th Century:
Development of “Classical Control Theory”
 1960’s – present “Modern Control Theory”
 Link for the Book
 https://www.academia.edu/44351347/Mo
dern_Control_Systems_13th_Edition
CISE305_Lecture 0 AL-Saif 39

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CISE305: Linear Control Systems

Dr. Abdul-Wahid AL-Saif

 Instructor Contacts and Office Hours

 Take the initiative and learn something !

 No communication devices during

1. Introduction to Control Systems

Dr. Abdul-Wahid A. AL-Saif

 Highly nonlinear, complicated dynamics!

Learn how to model, analyze and

6. Time Response of Control Systems:

7. System Stability and Root locus:

 Stability of feedback control systems

 Introduction to root locus: concept and

8. PID controller Design

 Ziegler Nichols methods

inputs Process outputs

 You could think of a car as a “system".

inputs Process outputs

Inputs are signals that affects Outputs are measured or

Process represent the relationship

 Control is a term that describes the

 A group of actions assembled in such a

 Control Engineering is becoming an

 Control Systems Applications include

1. Open loop –Closed loop

 An open loop control system consists of three basic

input Control Correction process output

 A closed loop control system consists of five basic

input Control Correction process output

 Ancient Greece [1 – 300 BC]: water float

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