Automatic Control

Mechanical Engineering Department

Automatic Control
Lecture 1

Applications:
Missile control
Behavior control
Aircraft control
Machine control
Aeronautic control
Engineering is control and control is engineering
Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

What Control is About???!!!

Control= compensate= manipulate=

Adjust= correct= desire= less error

Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

What Control is About???!!!

Indeed all modern systems (aircrafts, CD player, speed
trains, cruise control system, ) couldnt operate
without the aid of sophisticated control systems.
Improved control is the key enabling technology underpinning
- Enhanced product quality
- Waste minimization
- Environmental protection
- Greater throughput for a given installed capacity
- Greater yield
- Deferring costly plant upgrades
- Higher safety margins
Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

Close loop with sensor

output
y(t)

r(t) Reference input

u(t)

Controller

Plant

output
y(t)
my(t)

Measurement
(sensor)

Dr. Talal Mandourah

output

Automatic Control

Mechanical Engineering Department

System Integration
Important Issues in control:
Plant: the physical object to be controlled.
Process: a series of operations acting toward the end
Sensors: machines which measure system output.
Actuator: the muscles or the part which does the action.
Disturbance: signals which affect the output.
Feedback: the measure of the output compared to target.
Open-loop system: the output is neither measured nor fed-back.
Closed-loop system: the output is measured and compared with
the desired value.
Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

What should we do?

Study the process

Mathematical Model

Simulate with MATLAB and SIMULINK

Design a controller

Apply in real-time
Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

Types of Control
Classical Control
Time Domain (Root-locus, Laplace Transform)
Frequency Domain (Bode, Nyquest)
Modern Control
State Space (work for linear systems, have much control on it)
Digital Control
Z-transform
Stochastic Control
Kalman Filters (estimate the variables that cant be measured)
Adaptive Control
Optimal Control
Riccatti Equation (minimize the cost function)
Robust Control
Intelligent Control
Neural Network
Fuzzy logic
Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

Laplace Transform
f(t)= a function of time
S= a complex variable
= Laplace
F(s)= Laplace transformed

L[ f (t )] F ( s ) e st dt[ f (t )] f (t )e st dt
Laplace transform: is a mathematical tool used to solve linear ordinary
Differential equations ODE
It converts linear ODE into algebraic equation in s
Homogenous (transient equation +particular Integral (steady state) of the sol.
Obtained in one operation
Obtain the s-domain solution, use the inverse transform to find the time
domain solution.
Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

Laplace Transform
d
f (t )] sF ( s ) f (0)
dt
d2
L[ 2 f (t )] s 2 F ( s ) sf (0) f (0)
dt
( n2)
( n 1)
dn
n
n 1
n2
L[ n f (t )] s F ( s ) s f (0) s
f (0) ... s f (0) f (0)
dt
L[

Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

Laplace Transform Properties

Properties of Laplace Transform

1- Multiplication by constant
2- Superposition principal
3- Differentiation
4- Integration

L[kf (t )] kF ( s )

L[ f1 (t ) f 2 (t )] F1 ( s ) F2 ( s )
df (t )
L[
] SF ( s ) f (0)
dt
1
L[ f ( )d ] F ( s )
s
Dr. Talal Mandourah

10

Automatic Control

Mechanical Engineering Department

Laplace Transform Properties

5- Time Shift
6- Time Scaling
7- Frequency Shift

L[ f1 (t ) * f 2 (t )] f 1 (t ) * f 2 (t )e st dt

0
8- Convolution:
Convolution in time domain t
st

[
f
(

)
f
(
t

)
d

]
e
dt
= multiplication in
0 0 1 2
frequency domain
F1 ( s ) F2 ( s )

Convolution in time domain is multiplication in Frequency domain

Dr. Talal Mandourah

11

Automatic Control

Mechanical Engineering Department

Laplace Transform Properties

L[ f (t )] F ( s )
9- Time product
10- multiply by time
limt 0 f (t ) lim s
11-Initial Value Theorem

12-Final Value Theorem

lim t

f (t ) lim s

sF ( s )

sF ( s

Not valid if sF(s) contains a pole whose real part or zero is positive

Dr. Talal Mandourah

12

Automatic Control

Mechanical Engineering Department

Laplace Transform

Exponential function:

F ( s ) L[ f (t )] f(t)e -st dt
0

Step function:

f (t ) 0,........ for..t 0
....... A........ for..t 0

f (t ) 0,........ for..t 0
....... Ae t .... for..t 0

Dr. Talal Mandourah

13

Automatic Control

Mechanical Engineering Department

Laplace Transform

Ramp function:

F ( s ) L[ f (t )] f(t)e -st dt
0

f (t ) 0,........ for..t 0
....... At....... for..t 0

Sinusoidal function:
sin t

Dr. Talal Mandourah

1 j t jt
(e e )
2j

14

Automatic Control

Mechanical Engineering Department

Problems
Find the Laplace transform:
f (t ) 0..... for..t 0
3t

........ te .......t 0

Find the Laplace transform:

f (t ) 0................. for..t 0
........ sin(t ).. for...t 0

Dr. Talal Mandourah

15

Automatic Control

Mechanical Engineering Department

Problems
Find the Laplace transform
f (t ) 0......... for...t 0
........ t 2 sin t......t 0

Dr. Talal Mandourah

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