Course

Lecture 1:

Feb. 2016
Instructor: Mohamed Sayed Bayoumi
Professor
Aerospace Engineering, Cairo University
Course description

This course is concerned with both analysis and

design of feedback linear control systems

Analysis: system modeling,

(mech.-Translational-Rotational), Elect.,
Fluid, Thermal system.
Response (Partial function,
sensitivity, and stability

-Design: PID controller

- Implementation: Op-Amp. & Pneumatic.
Reading material

Text book:

Charles L. Phillips and Royce D. Harbor, Feedback

Control Systems,
Van de vegte, Feedback Control Systems,
Nice, Feedback Control Systems,
Ogata, Feedback Control Systems,
Harison, Introduction to Control Systems,
Raven, Introduction to Control Systems
R.C. Dorf and R.H. Bishop, Modern Control Systems,
11th Edition, Prentice Hall, 2008,
Course evaluation

Homework: 5% (late homework will not be accepted)

Quiz I: 3%
Mid-Term: 20%
Class participation: 2%
Final exam: 70%
Figure 2.1: WATTS SPEED GOVERNOR
Figure 2.3: MISSILE LAUNCHING AND GUIDANCE SYSTEM
A design example : Open loop
A design example
Closed loop
 Chapter 1 Introduction

1.5 An outline of this text

1) Three parts: mathematical modeling; performance analysis ;
compensation (design).
2) Three types of systems:
linear continuous; nonlinear continuous; linear discrete.
3) three performances: stability, accuracy, rapidness.
in all: to discuss the theoretical approaches of the control
system analysis and design.
1.6 Control system design process
shown in Fig.1.12
 Closed-loop control systems
(this is what we are most interested in for this course)

Definition of a closed-loop (or feedback) control system

Plant: part of the system to be controlled
Sensor: used for the measurement of a variable
Controller (or compensator): used to obtain satisfactory
characteristics for the total system
 Advantages/Disadvantages

Open-Loop Systems Closed-Loop Systems

Simple Complex &
expensive
Inexpensive
Less sensitive to noise,
disturbances, plant
Cannot correct for variations
disturbances or plant
variations Better control of transient
steady-state response

Better accuracy

Self-sustained oscillations
possible
 Lecture 2:

Mathematical foundation and system modeling

Outline of this lecture
Mathematical foundation
Complex variables
Differential equations
Laplace transform

System modeling
Definition of mathematical model
Definition of linear system
Transfer functions
 Definition
Transforms -- a mathematical
conversion from one way of thinking to
another to make a problem easier to
solve
problem solution
in original in original
way of way of
thinking thinking
solution inverse
transform in transform transform
way of
thinking

2. Transforms
problem solution
in time in time
domain inverse domain
Laplace solution Laplace
transform in transform
s domain

Other transforms
Fourier
z-transform
wavelets

2. Transforms
 Laplace transformation
time domain

linear time
differential domain
equation solution

Laplace transform
inverse Laplace
transform
Laplace algebra Laplace
transformed
solution
equation

Laplace domain or
complex frequency domain
4. Laplace transforms
 Basic Tool For Continuous
Time: Laplace Transform

L[ f (t )] F ( s ) f (t )e dt st
0
Convert time-domain functions and operations
into frequency-domain
f(t) F(s) (tR, sC
Linear differential equations (LDE) algebraic
expression in Complex plane
Graphical solution for key LDE characteristics
Discrete systems use the analogous z-transform
A correction
About the differential theorem of Laplace transform
An example: to calculate L[du(t)/dt]
 The inverse Laplace transform is given by
 Mechanical translational systems
 X(t) X(t)
K
kx (t )
Mass Spring System m m m x ( t )

f(t) f(t)

mx(t ) kx(t ) + f(t)

mx(t ) kx(t ) 0 + f(t)

ms X ( s ) kX ( s ) 0 + F(s)
2

( ms k ) X ( s ) 0 + F(s)
2

X ( s) 1
Transfer function
F ( s) ms k
2
 Static balance
K
ky (t )

m

f(t) f (t) y(t)

my(t ) mg

mg k
my(t ) mg k{ y (t )} f (t )
my(t ) ky (t ) f (t )
 2
d d
M y ( t ) b y ( t ) k y ( t) r( t)
2 dt
dt
One degree of freedom
Forced Vibration C K X(t) Cx (t )
K

m m

X(t)
f(t) X(t)
Free body
mx(t ) Cx (t ) kx(t ) f (t ) diagram

mx(t ) Cx (t ) kx(t ) f (t )
ms X ( s ) CsX ( s ) kX ( s ) F ( s )
2

X (s) 1
T .F .
F ( s ) ms Cs k
2
 k1 c1
m
m11
f1 x1
k2 C2
m22
x1 x2 f2 x2
x2 x1
k1 x1 C1 x1 k1 x1 C1 x1

m1 m1
f1 x1 f1 x1
k 2 ( x1 x2 ) C2 ( x1 x 2 ) k 2 ( x2 x1 ) C2 ( x 2 x1 )

m2 m2
f2 x2 f2 x2
 x1 x2

m1 x1 k1 x1 C1 x1 k 2 ( x1 x2 ) C2 ( x1 x2 ) f1 k1 x1 C1 x1

C2 ( x1 x 2 )
m1
m1 x1 (C1 C2 ) x1 (k1 k 2 ) x1 f1 C2 x2 k 2 x2
f1 x1

k 2 ( x1 x2 )
m2 x2 k 2 ( x1 x2 ) C2 ( x1 x2 ) f 2
m2
m2 x2 C2 x 2 k 2 x2 f 2 C2 x1 k 2 x1
f2 x2
 x2 x1

m1 x1 C1 x1 k1 x1 C2 ( x2 x1 ) k 2 ( x2 x1 ) f1 k1 x1 C1 x1

m1 x1 (C1 C2 ) x1 (k1 k 2 ) x1 f1 C2 x2 k 2 x2
m1
f1 x1
m2 x2 C2 ( x1 x2 ) k 2 ( x1 x2 ) f 2 k 2 ( x2 x1 ) C2 ( x 2 x1 )

m2 x2 C2 x 2 k 2 x2 f 2 C2 x1 k 2 x1 m2
f2 x2
 k1 x1 C1 x1

m1 x1 k1 x1 C1 x1 k 2 ( x1 x2 ) C2 ( x1 x 2 ) f1 m1
f1 x1
m1 x1 (C1 C2 ) x1 (k1 k 2 ) x1 f1 C2 x2 k 2 x2
k 2 ( x1 x2 ) C2 ( x1 x 2 )

k 2 ( x2 x1 ) C2 ( x 2 x1 )
m2 x2 C2 ( x2 x1 ) k 2 ( x2 x1 ) f 2
m2
m2 x2 C2 x2 k 2 x2 f 2 C2 x1 k 2 x1
f2 x2
xo( t ) y ( t ) xin( t)

Xo( s ) 2
s
Xin( s ) 2 b s k
s
M M

For low frequency oscillations, where n

Xo j
2

Xin j k
M
 Examples
Ta( t ) Ts( t) 0

Ta( t ) Ts ( t )

( t ) s( t ) a( t )

Ta( t ) = through - variable

angular rate difference = across-variable

Gear Ratio = n = N1/N2

N2 L N1 m
L n m

L n m
x r

converts radial motion to linear motion

System with Gears

Power = constant
T11 T22
1
2 n
 b x1*a =x2*b
x1 x2
a

e x2
y b
x1
a
 Reduction gearbox
a and b are the pitch circle radii
of the gears. Hence gear reduction
ratio is n = b/a

Free-body diagrams for reduction gearbox

Figure 2.31
Gear train
Mathematical models of electrical systems
 R
RC network
v1(t) v2(t)
i(t) C
dv2
i (t ) C
dt
v1 (t ) v2 (t )
i (t )
R

dv2 v1 (t ) v2 (t )
C
dt R
dv2
RC v2 (t ) v1 (t )
dt
 V2( s ) R2 R2
V1( s ) R R1 R2
R2
R max

R1

v1(t) v2(t)
i(t) R2
ei eo
ei eo
Figure 2.9
Three-loop
electrical network