SPC318: System Modeling and Linear Systems

Lecture 1: Introduction to Control Systems

Dr. Haitham El-Hussieny

Adjunct Lecturer
Space and Communication Engineering
Zewail City of Science and Technology

Fall 2016

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 1 / 33

Course Description:
Course website:
Slack Page: courses-zc-spc318.slack.com
Course material.
System modeling and Control are
integral parts of all aerospace Course announcements.
applications, from aircraft and spacecraft Discussions.
to robots and process control systems. etc. . .
Learning how to construct
mathematical models for dynamical
systems will help in:
Evaluate the behavior of the proposed
system, and optimize system
performance.

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 2 / 33

Lecture Outline:

1 Introduction to Control Systems.

2 Types of Control Systems.

3 Mathematical Modeling of Physical Systems.

4 Transfer Function of Linear Systems.

5 Summary.

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 3 / 33

Table of Contents

1 Introduction to Control Systems.

2 Types of Control Systems.

3 Mathematical Modeling of Physical Systems.

4 Transfer Function of Linear Systems.

5 Summary.

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 4 / 33

Introduction to Control Systems:
What is Control System?

Control System:
A system controlling the operation of
another system.
A device, or set of devices to manage,
command, direct or regulate the
behavior of other device(s) or system(s).

Manual control of water level

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 5 / 33

Introduction to Control Systems:
Why we need control systems at all?

Automobile steering control system

Direction of travel response

1 Some physical quantities tend to deviate from a certain predefined values.

2 Approximations in building the mathematical model are source of errors.
3 Presence of disturbances (external or internal).
Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 6 / 33
Introduction to Control Systems:
Basic Definitions:

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 (Plant):
A device or a physical system that is under
control (e.g. Water tank).

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 7 / 33

Introduction to Control Systems:
Basic Definitions:

Controlled Variable:
The quantity that is measured and
controlled. (Water level)

Manipulated Variable:
The quantity that is varied by the controller
so as to affect the value of controlled variable.
(Output flow rate)

Control:
Measuring the value of the controlled
variable and applying the manipulated
variable to limit the deviation of the controlled
variable from a desired reference value.
Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 8 / 33
Introduction to Control Systems:
Basic Definitions:

Disturbance:
A disturbance is an unwanted input of the
system. It is a signal that tends to adversely
affect the value of the system.

Definition
Internal disturbance: A disturbance that is
generated within the system. (e.g. a hole in
the tank.)

Definition
External disturbance: A disturbance that is
generated outside the system. (e.g.
temperature effect on flow.)
Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 9 / 33
Introduction to Control Systems:
Examples of Control Systems:

The amount of fuel admitted to the engine is

adjusted according to the difference between
the desired and the actual engine speeds.

In-class discussion
1 Plant ?
2 Controlled variable(s) ?
3 Manipulated variable(s) ?
Watt’s speed governor

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 10 / 33

Introduction to Control Systems:
Examples of Control Systems:

The furnace temperature is compared with the

programmed input temperature, and if there is
any deviation, the controller sends out a signal
to the heater to bring the furnace temperature
to a desired value.

In-class discussion
1 Plant ?
Temperature control system 2 Controlled variable(s) ?
3 Manipulated variable(s) ?

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 11 / 33

Table of Contents

1 Introduction to Control Systems.

2 Types of Control Systems.

3 Mathematical Modeling of Physical Systems.

4 Transfer Function of Linear Systems.

5 Summary.

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 12 / 33

Types of Control Systems:
Natural vs. Man-made Control Systems:

Natural Man-made

Aeroplanes
Universe

Human body Personal transportation

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Types of Control Systems:
Manual vs. Automatic Control Systems:

Manual Automatic

Water flow control Speed control

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 14 / 33

Types of Control Systems:
Open-loop vs. Closed-loop Control Systems:

Open-loop Closed-loop

Open-loop speed control Closed-loop speed control

No feedback or measurement With feedback and measurement

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 15 / 33

Types of Control Systems:
Open-loop vs. Closed-loop Control Systems:
Open-loop
Advantages:
1 Simple construction.
2 Less expensive.
3 No stability problem.
4 Convenient when output is hard to
measure (washer system).
Dr. Haitham El-Hussieny
Closed-loop
Advantages:
1 Makes the system response relatively
insensitive to disturbances and
internal variations in system
parameters.
2 No calibration is required.
SPC318: System Modeling and Linear Systems 16 / 33
Types of Control Systems:
Linear vs. Nonlinear Control Systems :

Linear System Non-Linear System

It follows:
I Superposition: The input and output of the system
f (u1 + u2 ) = f (u1 ) + f (u2 ) have nonlinear relationship.
I Homogeneous: Doesn’t follow the superposition and
f (αu1 ) = αf (u1 ) homogeneous properties.
Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 17 / 33
Types of Control Systems:
Time Variant vs. Time Invariant Control Systems:

Time Variant System Time Invariant System

y (t) = 2u(t) − 3t y (t) = 2u(t) + 1

A system in which one or more parameters A system in which it’s characteristics do

vary with time. not depend on time.

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 18 / 33

Types of Control Systems:
LTI Control Systems:

Lecture Assignment 1:
LiftWare Spoon
Plant ?
Controlled Variable(s) ?
Manipulated Variable(s) ?
Disturbance ?

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 19 / 33

Table of Contents

1 Introduction to Control Systems.

2 Types of Control Systems.

3 Mathematical Modeling of Physical Systems.

4 Transfer Function of Linear Systems.

5 Summary.

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 20 / 33

Mathematical Modeling of Physical Systems:
y (t) = f (u(t))
Examples:
DC Motor: We need to find the mathematical equation(s) that connect the motor speed
and the motor input voltage.
Dr. Haitham El-Hussieny
To understand and control complex
systems, one must obtain mathematical
models of these systems.
A mathematical model is a set of
equations that represents the dynamics of
the system accurately, or at least fairly
well.
Because the systems under consideration
are dynamic in nature, the mathematical
equations are usually differential
equations.
SPC318: System Modeling and Linear Systems 21 / 33
Mathematical Modeling of Physical Systems:
Differential Equations:
The dynamics of many systems, whether they are mechanical, electrical, thermal,
economic, biological, and so on, may be described in terms of differential equations:
a0 y (n) + a1 y (n−1) + . . . + an−1 ẏ + an y = b0 u (m) + b1 u (m−1) + . . . + bm−1 u̇ + bm u

Such differential equations may be obtained by using physical laws governing a particular
system—for example, Newton’s laws for mechanical systems and Kirchhoff’s laws
for electrical systems.

RLC circuit
Spring-mass-damper system
Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 22 / 33
Mathematical Modeling of Physical Systems:
Differential Equations:

Spring-mass-damper system RLC circuit

Applying Newton’s second law: Applying Kirchoff’s current law:

t
d 2 y (t)
Z
dy (t) ν(t) dν(t) 1
M +b + ky (t) = r (t) +C + ν(t)dt = r (t)
dt dt R dt L 0

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 23 / 33

Mathematical Modeling of Physical Systems:
Differential Equations:

Spring-mass-damper system RLC circuit

Applying Newton’s second law: Applying Kirchoff’s current law:

t
d 2 y (t)
Z
dy (t) ν(t) dν(t) 1
M +b + ky (t) = r (t) +C + ν(t)dt = r (t)
dt dt R dt L 0

Objective
We need to find y (t) and ν(t) as a function of time t by:
1 Solving the differential equations by classical methods (difficult).
2 Use of Laplace Transform to solve the linear differential equations (easy).

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 24 / 33

Mathematical Modeling of Physical Systems:
The Laplace Transform:
By use of Laplace transform we can convert common functions of time t into algebraic
functions of complex variable s: (Refer to Table 2.3 in reference book)
ω 1
L{sinωt} = L{e −at } =
s2 + ω2 s +a

Also differential equations could be converted into algebraic expressions:

Z
dy (t) 1
L{ } = sY (s) − y (0), L{ y (t)dt} = Y (s)
dt s

d 2 y (t) dy (0)
L{ 2
} = s 2 Y (s) − sy (0) −
dt dt
d n y (t) n n−1 d n−1 y (0)
L{ } = s Y (s) − s y (0) − . . . −
dt n dt

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 25 / 33

Mathematical Modeling of Physical Systems:
The Laplace Transform:
Spring-mass-damper system:
d 2 y (t) dy (t)
M +b + ky (t) = r (t)
dt dt
By taking Laplace transform:

d 2 y (t) dy (t)
L{M +b + ky (t)} = L{r (t)}
dt dt

dy (0)
M[s 2 Y (s) − sy (0) − ] + b[sY (s) − y (0)] + kY (s) = R(s)
dt
dy (0)
Consider r (t) = 0, y (0) = y0 and = 0,
dt
M[s 2 Y (s) − sy0 ] + b[sY (s) − y0 ] + kY (s) = 0
Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 26 / 33
Mathematical Modeling of Physical Systems:
The Laplace Transform:

Spring-mass-damper system:
M[s 2 Y (s) − sy0 ] + b[sY (s) − y0 ] + kY (s) = 0

(Ms + b)y0
Y (s) =
Ms 2 + bs + k
For example take k/M = 2 and b/M = 3, then:

(s + 3)y0
Y (s) =
(s + 1)(s + 2)

Find y (t) by taking the inverse Laplace transform:

2 −1
y (t) = L−1 { } + L−1 { }
s +1 s +2
Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 27 / 33
Mathematical Modeling of Physical Systems:
The Laplace Transform:

Spring-mass-damper system:
2 −1
y (t) = L−1 { } + L−1 { }
s +1 s +2

y (t) = 2e −t − 1e −2t
It is usually desired to determine the steady-state or final value of the response of y (t):

Final value theorem

Lecture Assignment 2:
lim y (t) = lim sY (s) By using the Laplace transform, with the
t→∞ s→0
same steps done in spring-mass-damper
system, derive the ν(t) for the parallel
lim y (t) = lim sY (s) = 0 RLC circuit.
t→∞ s→0

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 28 / 33

Table of Contents

1 Introduction to Control Systems.

2 Types of Control Systems.

3 Mathematical Modeling of Physical Systems.

4 Transfer Function of Linear Systems.

5 Summary.

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 29 / 33

Transfer Function of Linear Systems:
The transfer function of a linear system is defined as the ratio of the Laplace transform of
the output variable to the Laplace transform of the input variable, with all initial
conditions assumed to be zero.
dy (0)
M[s 2 Y (s) − sy (0) − ] + b[sY (s) − y (0)] + kY (s) = R(s)
dt

Transfer Function G (s)

M[s 2 Y (s)] + b[sY (s)] + kY (s) = R(s)

Output Y (s) 1
= G (s) = = 2
Input R(s) Ms + bs + k

Spring-mass-damper system
Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 30 / 33
Table of Contents

1 Introduction to Control Systems.

2 Types of Control Systems.

3 Mathematical Modeling of Physical Systems.

4 Transfer Function of Linear Systems.

5 Summary.

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 31 / 33

Lecture Summary:

1 Learn the basic definitions in control systems: plant, controlled variable, manipulated
variable . . . etc.
2 Learn the different types of control systems.
3 Compare between open-loop control and closed loop control systems.
4 Learn how to use differential equations to obtain the mathematical model of a physical
system.
5 Learn how to use Laplace transform to solve the differential equations.
6 Learn how to find the system transfer function with the help of Laplace transform.

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 32 / 33

 End of Lecture

Best Wishes

haitham.elhussieny@gmail.com

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