Prof. Wahied Gharieb Ali Abdelaal

1. Faculty of Engineering Computer and Systems Engineering Department Master and Diploma Students CSE 502: Control Systems (1) Topic#1 Introduction to Control Systems Prof. Wahied Gharieb Ali Abdelaal

2. CSE 502: Control Systems (1) Instructor: Prof. Wahied Gharieb Ali Office: R302 E-mail: wahid_ali@eng.asu.edu.eg - wahied@hotmail.com • Lectures: http://portal.eng.asu.edu.eg/wahied • TEXTBOOKS • Part-1 Analog Control: • 1) Norman S. Nise, “Control Systems Engineering”, 6th Edition, John Wiley & Sons, 2011. • 2) R. C. Dorf and R. H. Bishop, “Modern Control Systems”, 12th Edition, Prentice Hall, 2011. • 3) K. Ogata, “Modern Control Engineering”, 5th Edition, Prentice Hall, 2010. • 4) Farid Golnaraghi and Benjamin C. Kou, “Automatic Control Systems”, 9th Edition, John Willy & Sons, 2010.

3. CSE 502: Control Systems (1) • Part-2 Digital Control: • 5) M. Sami Fadali and Antonio Visioli, “Digital Control Engineering: Analysis and Design”, Academic Press (Elsevier) 2nd edition, 2013. • 6) Edited by William S. Levine, “Control Systems Fundamentals”, CRC Press Taylor & Francis Group, Section IV – Digital Control, 2011. • 7) Ioan D. Landau and Gianluca Zito, “Digital Control Systems: Design, identification, and Implementation”, Springer-Verlag 2006. • Additional Readings: • 8) Wikibooks, “Control Systems”, free download from http://en.wikibooks.org/wiki/Control_Systems, 2013. • 9) Derek P. Atherton, “Control Engineering Problems with Solutions”, First edition, free download from www.bookboon.com, 2013. • 10) Derek P. Atherton, “Control Engineering: An introduction with the use of Matlab”, Second edition, free download from www.bookboon.com, 2013.

4. CSE 502: Control Systems (1) Course Grading Assignments (20) Individual work Micro Project (10) Team work (2 or 3) Final Exam (70)

5. CSE 502: Control Systems (1) • Course Policies: • 1. Assignments: • should be submitted on the due date. • 2. Late assignments: • On time (100%), next day (90%), next 2 days (80%), next 3 days or more (0%). • 3. Collaboration: • You are encouraged to discuss the assigned problems/projects with your classmates. But you are not allowed to talk about the final solution itself or to show your solution to others. Every student has to prepare his/her solution independently. • 4. Preparing the final solution: • Please write your solution in a clear, readable, and concise form. Every answer should be fully justified.

6. Course Objectives • Provide a background concepts in control engineering • Study basic mathematical tools for analysis and design in control engineering such as Laplace transform, transfer function, block diagram, state space model, Z-transform, and stability analysis. • Use the root-locus technique in the analysis of control systems • Study the time domain analysis (State Space) and frequency domain (Nyquist plots, Bode plots) analysis tools. • Design the industrial PID controllers to meet specific performance requirements • Emphasize the use of MATLAB for analysis and design. 6

7. Course Outline Topic 1: Introduction to Control Systems Topic2: Mathematical Tools for Analysis Topic 3: Representation and Sensitivity Analysis Topic4: Dynamic models for linear systems Topic 5: Stability analysis Topic6: Root locus techniques Topic6: Time domain analysis (State Space Model) Topic 7:Frequency domain analysis ( Bode and Nyquist plots) Topic 8: Industrial control design (PID & RTS Regulators) Topic 9: Practical considerations in control design Topic 10: Embedded control systems Topic11: SCADA and DCS Systems Topic 12: Recap

8. Introduction to Control Systems • What is “a system”? • System is composed of a set of interacting components (elements) stimulated or excited by an external input to produce an external output (System properties?). • What is “ a control”? • Control is a hidden technology in many applications to stabilize the system and to maintain its output close as possible to the desired value.

9. Introduction to Control Systems

10. Introduction to Control Systems • Definition: The input is the stimulus, excitation, or command applied to a control system in order to produce a specified response from the control system. • Definition: The output is the actual response obtained from a control system. • Definition: The parameter is the value of a component in the system, such as mass, resistance, capacitor, … etc. • Definition: The variable is the measured signal, such as current, volt, force, position, …etc. Output Signal Input Signal Control System Energy Source

11. Applications

12. Applications

13. Applications Unmanned Ground Vehicles (UGV)

14. Applications Unmanned Aerial Vehicle (UAV)

15. Applications

16. Course Framework Analysis Control Design

17. Control Objectives • Main Objectives: • Stability (Regulation) • Performance (Tracking: transient response and steady state response • SMART Objectives: • Specific • Measurable • Achievable • Realistic • Timed

18. Physical Systems

19. Control Systems • Thermal control system • Flow control system • Level control system • Pressure control system • Speed control system • Position control system

20. Complex Interconnected Systems

21. Complex Interconnected Systems

22. Open-loop Control (Feed-Forward control) Program setting (Input) Laundry Machine Washed clothes (Output) A laundry machine washes clothes, by setting a program. It does not measure how clean the clothes become. Control without measuring devices (sensors) are called open-loop control.

23. Open-loop Control (Feed-Forward control) • Application: CD player, computer disk drive • Requirement: Constant speed of rotation • Open loop control system: • Block diagram representation:

24. Closed Loop (Feedback Control) • Closed-loop control system: • Block diagram representation:

25. Open loop and Closed loop

26. Car Control Car driving system • Objective: To control direction and speed of a car • Outputs: Actual direction and speed of car • Control inputs: Road markings and speed signs • Disturbances: Road surface and grade, wind, obstacles • Possible subsystems: The car alone, power steering system, breaking system

27. Car Control • Functional block diagram: • Time response: Actual course of travel Desired course of travel Steering Mechanism Automobile Driver + Error Measurement, visual and tactile -

28. Car Control Controller + Actuator

29. Position Control • Specification: • Speed of disk: • 1800 rpm to 7200 rpm • Distance head-disk: • Less than 100nm • Position accuracy: • 1 µm • Move the head from track ‘a’ to track ‘b’ within 50ms

30. Level Control

31. Speed Control of Steam Engine

32. Human Body قال الله تعالى: "وَمَا أُوتِيتُمْ مِنْ الْعِلْمِ إِلاَّ قَلِيلاً"( الإسراء 85) - "وَفِي أَنْفُسِكُمْ أَفَلا تُبْصِرُونَ”( الذاريات 21) صدق الله العظيم. • Temperature • Regulated temperature around 37°C • Eyes • Follow moving objects • Hands • Pick up an object and place it at a predetermined location • Pancreas • Regulates glucose level in the blood

33. Human Body Temperature Control System

34. Human Body Blood-Glucose Concentration

35. Human Body Open loop control (preprogrammed insulin pump)

36. Human Body Closed loop control (Artificial Pancreas)

37. Control Mechanisms • 1) The aim is to maintain a physical variable at some fixed value in presence of disturbances, which is called process control. • Example: temperature, level, pressure, flow, oil and gas industry.

38. Control Mechanisms • 2) The second class is the Servo Control This is a control system in which a physical variable is required to follow (track) some desired time function. • Example: position control of antennae , aircraft landing system, or a robot arm designed to follow a required path in space.

39. Control Mechanisms 3) Sequentially Controlled Systems • A series of defined tasks to be performed. • Time-Driven • Each operation in the sequence is performed for a certain amount of time. May be open-loop control. • Event-Drive: • Each operation is performed until some event goal is reached. Must be closed-loop control.

40. Why Negative Feedback? Positive Feedback Wall Wall

41. Sensorsandactuatorsincontrolsystems

42. Sensorsandactuatorsincontrolsystems

43. Feedback Control

44. Feedback Control Actuation Sensing Decision Signaling • Goals • Stability: system maintains desired operating point • Performance: system responds rapidly to the desired changes • Robustness: system tolerates perturbations in dynamics and environment

45. Computer-Controlled Systems PLC SCADA

46. Computer-Controlled Systems Prosthetic care goes back to the fifth Egyptian Dynasty

47. Computer-Controlled Systems Brain Controlled Artificial Leg After losing his lower right leg in a motorcycle accident in 2009, 32-year-old Zac Vawter has been fitted with an artificial limb that uses neuro signals from his upper leg muscles to control the prosthetic knee and ankle. The motorized limb is the first thought controlled bionic leg, scientists at the Rehabilitation Institute of Chicago, reported in The New England Journal of Medicine.

48. Control Modes • Manual control: • The system is fully operated with human intervention. This control mode is usually used in the case of: new installation, maintenance, and complex operations (flight take off/landing). • Automatic Control: • The system is fully operated without human intervention. This mode is used in autonomous systems. • Semi-Automatic Control: • The system is operated with human intervention under automatic safety protection.

49. History of Automatic Control

50. History of Automatic Control