System Dynamics and Control:

Introduction
Dr. Osama Saud Brinji
Importance

• In daily life: temp and humidity in air conditioning systems, temp of

an iron, washing machines, water heater, bread toaster…etc.
• In transportation: airplanes, automobiles, trains….etc.
• In Industry: boilers and power generation, robots and CNC
machines,…..etc.
• Without control (feedback), many achievements in today's’ industry
cannot be obtained
• Most of those systems are feedback controlled (sometimes with
human high level supervision).
Videos
• https://www.youtube.com/watch?v=FurC2unHeXI&t=13s
• https://www.youtube.com/watch?v=5NVjIIi9fkY&t=8s
• https://www.youtube.com/watch?v=u1pgaJHiiew&t=6s
• https://www.youtube.com/watch?v=2BwUMk10WqI&t=20s
Chapter 1

• Control systems terminology: Open loop, Closed loop, Feedback

servomechanism, Block diagram.
• Revision of Laplace Transform
Definitions
• System

is a combination of components that act together and perform a certain objective. A system need not
be physical. The concept of the system can be applied to abstract, dynamic phenomena such as those
encountered in economics. The word system should, therefore, be interpreted to imply physical,
biological, economic, and the like, systems.
Definitions (Cont.)
• Control System
➢ A control system is an interconnection of components forming a system configuration that will provide a
desired system response.
➢ Describes cause-effect relationship.
Definitions (Cont.)

• A plant may be a piece of equipment, perhaps just a set of machine parts functioning together, the purpose
of which is to perform a particular operation. In this course, we shall call any physical object to be controlled
(such as a mechanical device, a heating furnace, a chemical reactor, or a spacecraft) a plant.
• A process is an artificial or voluntary, progressively continuing operation that consists of a series of
controlled actions or movements systematically directed toward a particular result or end. In this course we
shall call any operation to be controlled a process. Examples are chemical, economic, and biological
processes.
 Control System Fundamentals
Disturbance
(Noise)
• Open loop systems
Output (actual
Input r(t) uk uact output) c(t)
Controller Actuator Process
Reference desired Control Actuating
output Signal Signal
• An open-loop control system utilizes an actuating device to control the process directly without using
feedback.
• Advantages: simple, cheap
• Disadvantage: no error rejections
• Example: electric water heater.
Definitions

• The controlled variable is the quantity or condition that is measured

and controlled.
• The control signal or manipulated variable is the quantity or
condition that is varied by the controller so as to affect the value of
the controlled variable.
• Normally, the controlled variable is the output of the system.
Control means measuring the value of the controlled variable of the
system and applying the control signal to the system to correct or
limit deviation of the measured value from a desired value.
 Control System Fundamentals
Disturbance
(Noise)
• Close loop systems
Output (actual
Input r(t) uk uact output) c(t)
Controller Actuator Process
Reference Control Actuating
desired Signal Signal
output
Feedback Signal b(t)
Measurement
Control System Fundamentals
• Close loop systems
• A closed-loop control system uses a measurement of the output and feedback this signal to compare it
with the desired output (reference or command).
• In general a system that is designed to control the output of a plant must contain at least one sensor and
controller
• Advantage: can remove steady-state error (disturbance rejection)
• Disadvantage: higher complexity and so more expensive
• Example: a person steering an automobile
Definitions

• A controller:
➢ is a device for controlling a source of power in which the output is required to be some function of input,
➢ is designed to fulfil some design objectives
Definitions (Cont.)
• Feedback

• refers to an operation that, in the presence of disturbances, tends to reduce the difference between the
output of a system and some reference input (desired value) and does so on the basis ofthis difference. Here
only unpredictable disturbances are so specified, since predictable or known disturbances can always be
compensated for within the system.
Water-level float regulator, 1765

• What is the controlled variable?

• Is it open loop or closed loop?
• What is the sensor?
• What is the actuator?
• What is the controller?
Historical control systems:
The Watt centrifugal speed governor, 1769
The Watt centrifugal speed governor, 1769

• What is the controlled variable?

• Is it open loop or closed loop?
• What is the sensor?
• What is the actuator?
• What is the controller?
HISTORY OF AUTOMATIC CONTROL -1

• First feedback system to be invented in modern Europe -temperature

regulator of Cornelis Drebbel (1572–1633) from Holland.
• Dennis Papin [1647–1712] invented the first pressure regulator for steam
boilers in 1681. A form of safety regulator similar toa pressure-cooker
valve.
• The first automatic feedback controller used in an industrial process is
James Watt’s flyball governor, developed in 1769 for controlling the speed
of a steam engine.
• 1868 J. C. Maxwell formulates a mathematical model for a governor control
of a steam engine.
HISTORY OF AUTOMATIC CONTROL -2

• 1913 Henry Ford’s mechanised assembly machine introduced for

automobile production.
• 1927 H.W. Bode analyses feedback amplifiers.
• 1932 H. Nyquist develops a method for analysing the stability of systems.
• 1952 Numerical control (NC) developed at Massachusetts Institute of
Technology for control of machine-tool axes.
• 1954 George Devol develops “programmed article transfer,” considered to
be the first industrial robot design.
 HISTORY OF AUTOMATIC CONTROL -3

• 1960 First robot introduced, based on Devol’s designs.

• 1961 Robots used for tending die-casting machines.
• 1970 State-variable models and optimal control developed.
• 1980 Robust control system design widely studied.
• 1990 Export-oriented manufacturing companies emphasise automation.
• 1994 Feedback control widely used in automobiles. Reliable, robust
systems demanded in manufacturing.
Linear & Nonlinear Systems

• Linear Control Systems

➢ Linear feedback control systems are idealized models fabricated by the analyst purely for simplicity of
analysis and design.

• Nonlinear Control Systems

➢ All control systems are essentially nonlinear.
➢ It is practical first to design the controller based on the linear-system model by neglecting the nonlinearities
of the system.
➢ The designed controller is then applied to the nonlinear system model for evaluation or redesign by
computer simulation.
Time invariant & Time varying

• Time-Invariant Systems
When the parameters of a control system are stationary with respect to time during the operation of the
system, the system is called a time-invariant system.

• Time-Varying Systems
In practice, most physical systems contain elements that drift or vary with time.
Continuous, Discrete and Digital

• Continuous (Analogue) Control Systems

A continuous-data system is one in which the signals at various parts of the system are all functions of the
continuous time variable t.

• Discrete Control Systems

The signals at one or more points of the system are in form of either a pulse train or a digital code.
Single variable & Multi-variable Control

• Single Variable Control

single input -single output (SISO)

• Multivariable Control
multiple inputs -multiple outputs (MIMO)
Example
• A manual level
Regulating control system
Example (Cont.)

Level control system

(Automatic Control)
Example (Cont.)

Room Temperature
control system
Example (Cont.)

Aircraft elevator
control system
Example (Cont.)

Coordinated control system for a boiler generator

Example (Cont.)

Automobile steering control system

Comparison of Open-loop and Closed-loop Control
Design Example: Turntable Speed Control
• Applications: CD player, computer disk drive, phonograph record
player
• Require a constant speed of rotation in spite of motor wear and
variation and other component changes.
• Goal: To control the actual speed of rotation to within a specified
percentage of the desired speed.
 Comparison of Open-loop and Closed-loop Control
Design Example: Turntable Speed Control

(a) Open-loop control (without feedback) of the speed of a turntable

(b) Block diagram model
 Comparison of Open-loop and Closed-loop Control
Design Example: Turntable Speed Control

(a) Open-loop control (with feedback) of the speed of a turntable

(b) Block diagram model
Design requirements of a control system
• In order to design and implement a control system, the following elements are required:
• Knowledge of the desired value: what to control, to what accuracy, over what range of values.
• Knowledge of the output or actual value: must be measured by a feedback sensor, in a form suitable for a
controller to understand. The sensor must have the necessary resolution and dynamic response.
• Knowledge of the controlling device: the controllers must be able to accept measurements of desired and
actual values and compute a control signal in a suitable form to drive an actuating element. It includes
mechanical levers, pneumatic elements, analog or digital circuits or micro computers.
• knowledge of the actuating device: This unit amplifies the control signal and provides the effort to move the
output of the plant towards its desired value.
• Knowledge of the plant: some of the static and dynamic characteristics of the plant. It can be obtained from
measurements or from the application of physical laws or both.
Control system design
Disturbance

1. Modeling

3. Design 2. Analysis Mathematical model

MATHEMATICAL FOUNDATION
In this topic we present the background material that is needed for the topics on the control system discussed
in this course.
• Complex-Variable Concept
A complex variable shas two components: a real component σand imaginary component ω Graphically, the real
component of sis represented by a σ-axis in the horizontal direction, and the imaginary component is
measured along the vertical jω-axis.
MATHEMATICAL FOUNDATION
G(s) = Re G(s) + lm G(s)
Where G(s) is said to be function of complex variable s.
• Poles of a function:
Roots of the denominator polynomial are called poles of the system.
• Zeros of a function:
Roots of the numerator polynomial are called Zeros of the system.
• Example:

• Poles are s = 0, s = -4 and Zeros are s = -2

Differential Equations:
• A wide range of systems in engineering is modelled mathematically by differential equations. These
equations generally involve derivatives and integrals of the dependent variables with respect to the
independent variable. For instance, a series electric RLC network can be represented by the differential
equation

• In general, differential equation of an nth-order is written

dny dy
an n +an−1 n−1 + ..... + a1 + a0 = 0
dx dx dx
which is also known as a linear ordinary differential equation if the coefficients
a0, a1, … ,an-1are not function of y(t).
Laplace Transform:
The Laplace transform converts the differential equation into algebraic
equation in s. It is then possible to manipulate the algebraic equation
by simple algebraic rules to obtain the solution in the s-domain. The
final solution is obtained by taking the inverse Laplace transform.
Laplace transform of a function f (t) is defined as

or F(s) = Laplace transform of f(t) = L[f(t)].

Laplace Transform:
Example 1: Let f(t)be a unit-step function that is defined as

Solution: The Laplace transform of f(t)is obtained as

Laplace Transform:
Example 2: Consider the exponential function

Solution:

Example 3: Find the Laplace transform of sinωt and cosωt.

Laplace Transform:
Inverse Laplace Transformation: Given the Laplace transform F(s), the operation of obtaining f(t) is termed the
inverse Laplace Transformation and is denoted by:

Important Theorems of the Laplace Transform

Theorem 1.Multiplication by a constant
Let k be a constant and F(s) be the Laplace transform of f(t). Then
Laplace Transform:
Theorem 2. Sum and difference

Theorem 3.Differentiation
Laplace Transform:
• Theorem 4.Integration

For nth-order integration

• Theorem 5. Shift in time

The Laplace transform of f(t)delayed by time T is equal to the Laplace transform F(s)multiplied by e-Ts;
that is where us(t -T) denotes the unit-step function that is shifted in time to the right by T.
Laplace Transform:
• Theorem 6. Initial-Value Theorem

• Theorem 7. Final-Value Theorem

If the Laplace transform of f(t) is F(s), and sF(s) is analytic on the imaginary axis and in the right half of the s-
plane, then

The final-value theorem is not valid if sF(s) contains any pole whose real part is zero or positive.
This theory is very useful for analysis and design of control systems, since it gives the final
value of a time function by knowing the behaviour of its Laplace transformation at s = 0.
Laplace Transform:
• Example 1: Consider the function

Since s F(s)is analytic on the imaginary axis and in the right-half s-plane, the final theorem may be applied. Thus

• Example 2: Consider the function

which is the Laplace transform of f(t) = sinωt. Since the function sF(s)has two poles
on the imaginary axis of the s-palne, the final-value theorem cannot be applied in this case.
Laplace Transform:
• Theorem 8.Complex Shifting

• Theorem 9. Real Convolution ( Complex Multiplication)

Let F1(s) and F2(s) be the Laplace transform of f1(t) and f2(t) ,respectively, and f1(t)= 0, f2(t)= 0 for t<0;
then

There is also a dual to the real convolution theorem, called the complex convolution or real multiplication.
Laplace Transform’s table for common
functions
Inverse Laplace Transform by Partial-Fraction
Expansion
𝑄(𝑠)
• Consider a rational function 𝐺 𝑠 =
𝑃(𝑠)
• Where Q(s)and P(s)are polynomials of s. It is assumed that the order of P(s)ins is greater than of Q(s). The
polynomial P(s) may be written

where a0, a1, … ,an-1 are real coefficients. The methods of partial-fraction expansion will now be
given for cases of simple poles, multiple-order poles, and complex conjugate poles of G(s).
Inverse Laplace Transform by Partial-Fraction
Expansion
G(s) has Simple Poles:
If all the poles of G(s) are simple and real, then G(s) can be written as

Applying partial-fraction expansion, Eq.(1.21) can be written as

Inverse Laplace Transform by Partial-Fraction
Expansion
The inverse transform is then written as
Inverse Laplace Transform by Partial-Fraction
Expansion
• G(s) Has Multiple Order Poles
If r of the n poles are identical , G(s)is written

Then G(s) can be expanded as:

Inverse Laplace Transform by Partial-Fraction
Expansion
The (n-r) coefficients Ks1,Ks2,…..,Ks (n-r) which correspond to simple poles may be evaluated as
explained before. The coefficients Ai are evaluated as follows.
Inverse Laplace Transform by Partial-Fraction
Expansion
• G(s) Has Simple Complex -Conjugate Poles
Suppose that G(s) contains a pair of complex poles:
S= -α+jωand s = -α-jω
The corresponding coefficients of these poles are
Inverse Laplace Transform by Partial-Fraction
Expansion
Example: Find the Inverse Laplace transform of
Inverse Laplace Transform by Partial-Fraction
Expansion
Solution: By partial fraction expansion
Inverse Laplace Transform by Partial-Fraction
Expansion
Example: Find the Inverse Laplace transform of
Inverse Laplace Transform by Partial-Fraction
Expansion
Solution: By partial fraction expansion
Application of Laplace Transform to the Solution of
Linear Ordinary Differential Equations.

1. Transform the differential equation to the s-domain by Laplace

transform technique.
2. Manipulate the transformed algebraic equation and solve for the
output variable.
3. Perform partial-fraction expansion to the transformed algebraic
equation
4. Obtain the inverse Laplace transform.
Summary

• In this chapter we introduced some of the basic concepts of what a control system is and what it is supposed
to accomplish.
• The basic components of a control system are described by demonstrating the effects of feedback in a
simple way, the question of why most control systems are closed loop systems also clarified.
• Several typical control systems examples are given to illustrate the points of emphasis in the analysis and
design of control systems.
• We also presented in this chapter some of the mathematical fundamentals required for the study of linear
control systems.
• Specifically, the Laplace transform is used for the solution of linear ordinary differential equations.