‫بسم هللا الرحمن الرحيم‬

Faulty of Engineering
Mechatronics Engineering Dept.

Automatic Control & Applications Course

Lec 1
Introduction and Mathematical modeling of control systems

DR. M. Arafa 21/2/2024

 Lecture 1: Control System

➢ Introduction to Control Systems

➢ Classifications of Control Systems

➢ Control System representation

➢ Transfer Function
 Control System

➢ A physical system is defined as a system in which physical components are connected by one
of some regular forms to perform an objective.

➢ A control system is defined as an arrangement of physical components connected or related

in such a manner as to control, command, direct, or regulate itself or another system.

Input Output
System
 Classification of Control Systems

1) Depending on the analysis and design methods

• Linear Systems (the superposition principle is satisfied)

• Non-linear Systems (the superposition principle is not satisfied)

2) Depending on the type of signals

• Continuous-time Systems (Analog Systems)

• Discrete-time Systems (Digital Systems)

3) Depending on the type of system components 4) Depending on the Number of inputs and outputs

• Electrical Systems • Single Input Single Output (SISO) Systems

• Mechanical Systems • Single Input Multi Output (SIMO) Systems

• Electromechanical Systems • Multi Input Single Output (MISO) Systems

• Hydraulic Systems • Multi Input Multi Output (MIMO) Systems

• Thermal Systems

• Pneumatic Systems
 Input 1
Input 2
Input Output Input 3 MISO
SISO Output
System
. System
.
.
Input n

Output 1 Input 1 Output 1

Output 2 Input 2 Output 2
SIMO Output 3 Input 3 MIMO Output 3
Input
System . . System .
. . .
. . .
Output m Input n Output m
5) According to the feedback path

• Open Loop Systems or Non-feedback Systems

• Closed Loop Systems or Feedback Systems

 V2
Inlet flow
V1
𝑸𝒊

V1 H

Outlet flow
𝑸𝒐
Closed - loop Tank Level Control System Open- loop Tank Level Control System
 The basic elements of a feedback control system

reference
error control output
signal
signal signal signal
r(t) + Controller /
e(t) u(t) y(t)
Compensator Plant / System
Actuators
_ GC(s) G(s)

H(s)
Sensors
 The basic elements of a feedback control system

Physically, the control system is composed of four basic elements:

1) sensors (sensor is a device that detects and responds to some type of input from the physical environment like

temperature, speed, pressure, light,…etc.)

2) Actuators (actuator is a device that makes something move or operate)

3) Plant / System (Robot, Self Autonomous Vehicle, CNC Machine, Vehicle engines, Conveyor systems,

Assembly systems, Cranes, Aircraft engines,…, etc.)

4) Analog Controllers / Digital controllers (Computer /Microprocessor / Microcontroller / PLC ,……, etc.)
 For example, the washing machine as a control system:

1) Sensors
• Sensors that detect conditions such as water level and temperature sensors.

2) Actuators
• The motor that spin the tub

• The electric water valve to fill it with the water.

3) Plant
• The machine body that contains the inner drum to be loaded with clothes and water

4) Controller
• Embedded controller (microprocessor/microcontroller based) on an integrated circuit

• It tells the washing machine what to do, based on the selections you make, such as the
wash cycle and water temperature.
 The electric water valve

The Plant

The Controller
 Mathematical Representation of a Control System
(System Modelling)

The control System can be mathematically represented (or modelled) by one of the
following forms:

➢ Linear Differential Equations (DEs.)

➢ Transfer function (T.F)

➢ State-space Representation
 Transfer Function (T.F)

The T.F is the relation between the 𝑂/𝑃 in 𝑠 − 𝑑𝑜𝑚𝑎𝑖𝑛 to the 𝐼/𝑃 in 𝑠 − 𝑑𝑜𝑚𝑎𝑖𝑛.

𝑂/𝑃(𝑠)
𝑇. 𝐹 =
𝐼/𝑃(𝑠)

𝑰/𝑷(𝒔) 𝑶/𝑷(𝒔)
T.F

𝑌(𝑠)
𝑹(𝒔) 𝒀(𝒔) 𝑇. 𝐹 = 𝐺 𝑠 =
𝑮(𝒔) 𝑅(𝑠)
𝑌(𝑠) = 𝑅(𝑠) 𝐺(𝑠)
 Transfer Function (T.F)
➢ Poles: the values of 𝑠 that make the denominator equal zero.

➢ Zeros: the values of 𝑠 that make the numerator equal zero.

➢ System Order: the highest exponent of 𝑠 in the denominator of the T.F.

Example:

Consider the following transfer function of a control system:

𝑠 + 2 (𝑠 − 1)
𝑇. 𝐹 =
𝑠 𝑠 + 3 (𝑠 + 4)
➢ Poles: the system has three poles at 𝑠 = 0, −3, −4

➢ Zeros: the system has two zeros at 𝑠 = −2, 1

rd
➢ System Order: the system is a third (3 ) order system.
 How to Obtain the Transfer Function

➢ Obtain the DEs. Of the system in terms of input and output of the system

➢ Take LaPlace transform (ℒ) for these DEs. considering zero initial conditions.

Note that:
ሶ
ℒ 𝑦(𝑡) = 𝑠 𝑌(𝑠)
ሷ = 𝑠 2 𝑌(𝑠)
ℒ 𝑦(𝑡)
ሸ = 𝑠 3 𝑌(𝑠)
ℒ 𝑦(𝑡)
.
.
𝑛
ℒ 𝑦 (𝑡) = 𝑠 𝑛 𝑌(𝑠)
Example 1:
𝑉𝑂 (𝑠)
➢ Find the transfer funtion , for the following electrical system.
𝑉𝐼 (𝑠)

Solution:
𝑑𝑖 𝑡
(1) using K.V.L ⇒ 𝑣𝑖 (𝑡) = 𝑅𝑖(𝑡) +𝐿 + 𝑣𝑜 (𝑡)
𝑑𝑡
𝑑𝑣𝑜 (𝑡)
(2) 𝑖(𝑡) = 𝐶
𝑑𝑡
Substituting from 2) in 1):

𝑑𝑣𝑜 (𝑡) 𝑑2 𝑣𝑜 (𝑡)

𝑣𝑖 (𝑡) = 𝑅𝐶 + 𝐿𝐶 2
+ 𝑣𝑜 (𝑡)
𝑑𝑡 𝑑𝑡
Take 𝓛, considering zero initial conditions

𝑉𝐼 𝑠 = 𝑅𝐶𝑠𝑉𝑜 𝑠 + 𝐿𝐶𝑠 2 𝑉𝑜 (𝑠) + 𝑉𝑜 (𝑠)

𝑉𝐼 𝑠 = 𝑅𝐶𝑠𝑉𝑜 𝑠 + 𝐿𝐶𝑠 2 𝑉𝑜 𝑠 + 𝑉𝑜 𝑠
= (𝐿𝐶𝑠 2 + 𝑅𝐶𝑠 + 1) 𝑉𝑜 𝑠

𝑉𝑜 𝑠 1
𝑇. 𝐹 = =
𝑉𝐼 𝑠 𝐿𝐶𝑠 2 + 𝑅𝐶𝑠 + 1

1
𝑉𝑜 𝑠 𝐿𝐶
∴ 𝑇. 𝐹 = =
𝑉𝐼 𝑠 2 𝑅 1
𝑠 + 𝑠+
𝐿 𝐿𝐶

𝑉𝐼 𝑠 1 𝑉𝑜 𝑠
𝐿𝐶
2 𝑅 1
𝑠 + 𝑠+
𝐿 𝐿𝐶
Another Solution:

➢ For electrical system, it is preferred to transform electrical circuits from time-domain to

s-domain as follow:

Time-domain 𝒔 −domain

𝑅 𝑅

𝐿 𝐿s Circuit in time-domain
𝐶 1
𝐶𝑠 𝑰(𝒔) 𝑹 𝑳𝒔
𝑣𝑖 𝑡
𝑉𝐼 𝑠
𝑣𝑜 (𝑡)
𝑉𝑂 (𝑠) 𝟏
𝑖(𝑡) 𝑽𝑰 (𝒔) 𝑽𝑶 (𝒔) 𝑪𝒔
𝐼(𝑠)

Circuit in 𝒔-domain
➢ When we transform the circuit to s-domain, we can then deal with L & C like resistances.
𝑰(𝒔) 𝑹 𝑳𝒔

𝟏
𝑽𝑰 (𝒔) 𝑽𝑶 (𝒔) 𝑪𝒔

(1) using K.V.L ⇒ 𝑉𝐼 𝑠 = 𝑅 𝐼 𝑠 + 𝐿𝑠 𝐼(𝑠) + 𝑉𝑜 (𝑠)

1
(2) 𝑉𝑜 (𝑠) = 𝐼 𝑠 ⇒ 𝐼 𝑠 = 𝐶𝑠 𝑉𝑜 (𝑠)
𝐶𝑠
𝑉𝑜 𝑠 1
Substituting from 2) in 1): 𝑇. 𝐹 = =
𝑉𝐼 𝑠 𝐿𝐶𝑠 2 + 𝑅𝐶𝑠 + 1
𝑉𝐼 𝑠 = 𝑅𝐶𝑠 𝑉𝑜 𝑠 + 𝐿𝐶𝑠 2 𝑉𝑜 𝑠 + 𝑉𝑜 (𝑠)
1
= (𝑅𝐶𝑠 + 𝐿𝐶𝑠 2 + 1) 𝑉𝑜 (𝑠) 𝑉𝑜 𝑠 𝐿𝐶
∴ 𝑇. 𝐹 = =
= (𝐿𝐶𝑠 2 + 𝑅𝐶𝑠 + 1) 𝑉𝑜 (𝑠) 𝑉𝐼 𝑠 𝑅 1
𝑠2 + 𝑠 +
𝐿 𝐿𝐶
Example 2:
𝑉𝑂 (𝑠) 𝐼𝑂 (𝑠)
➢ Find the transfer funtion and , for the following electrical system.
𝑉𝐼 (𝑠) 𝑉𝐼 (𝑠)

R R
+ +

𝑖𝑜 (𝑡)
𝑣𝑖 𝑡
C C 𝑣𝑜 (𝑡)
‫ـــ‬ ‫ـــ‬

Transform the circuit to 𝑠 − 𝑑𝑜𝑚𝑎𝑖𝑛

Solution: R R
+ +
𝐼𝑜 (𝑠)
1 1
𝑉𝐼 𝑠 𝑉𝑂 (𝑠)
𝐶𝑠 𝐶𝑠

‫ـــ‬ ‫ـــ‬
 ‫‪R‬‬ ‫‪R‬‬
‫‪+‬‬ ‫‪+‬‬
‫)𝑠( 𝑜𝐼‬
‫‪1‬‬ ‫‪1‬‬
‫𝑠 𝐼𝑉‬ ‫)𝑠( 𝑂𝑉‬
‫𝑠𝐶‬ ‫𝑠𝐶‬

‫ـــ‬ ‫ـــ‬
‫‪1‬‬
‫‪2‬‬
‫‪R‬‬ ‫‪R‬‬
‫‪+‬‬ ‫‪+‬‬
‫)𝑠(𝐼‬ ‫)𝑠( 𝑜𝐼‬
‫‪1‬‬ ‫‪1‬‬
‫𝑠 𝐼𝑉‬ ‫)𝑠( 𝑂𝑉‬
‫𝑠𝐶‬ ‫𝑠𝐶‬

‫ـــ‬ ‫ـــ‬
Remember 𝒇 𝒕 𝓛 𝑭(𝒔)
𝛿(𝑡) 1
1
𝑢(𝑡)
𝑠
1
𝑡
𝑠2
𝑛!
𝑡𝑛
𝑠 𝑛+1
1
𝑒 ±𝑎𝑡
𝑠∓𝑎
𝜔
sin(𝜔𝑡)
𝑠2 + 𝜔2
𝑠
cos(𝜔𝑡)
𝑠2 + 𝜔2
𝜔
𝑒 ±𝑎𝑡 sin(𝜔𝑡)
(𝑠 ∓ 𝑎)2 +𝜔 2
𝑠∓𝑎
𝑒 ±𝑎𝑡 cos(𝜔𝑡)
(𝑠 ∓ 𝑎)2 +𝜔 2