Linear Control Systems

Dr. Ammar Hasan

Dr. Ammar Hasan

SEECS, NUST

Class Rules
Avoid disruptive activities/behavior
-mobile phones -talking in lectures -being late -etc.

Water bottles/drinks allowed in class (especially in summers)

Dr. Ammar Hasan

SEECS, NUST

Distribution of Marks
Quizzes Assignments OHTs Final Exam 10% 5% 17.5% + 17.5% 50%

Dr. Ammar Hasan

SEECS, NUST

Quizzes and Assignments

Six to seven graded quizzes Quizzes may be announced or un-announced There may be few practice quizzes, which are ungraded Two to three assignments No best of policy

Dr. Ammar Hasan

SEECS, NUST

Cheating and Plagiarism

Zero tolerance policy Any one found guilty will be penalized. Maximum penalties could be
zero in all assignments and quizzes Case sent to SEECS disciplinary committee for award of F grade

Plagiarism includes
copying full or part of class mates assignment copy text from book, webpage, or paper, etc. without rephrasing and proper referencing

Dr. Ammar Hasan

SEECS, NUST

Text Books
Control Systems Engineering, 5th Edition, by Norman S. Nise Digital Control of Dynamic Systems by Gene F. Franklin, J. David Powell, Michael L. Workman Feedback Systems by Astrom and Murray Discrete time control systems, by Katsuhiko Ogata

Dr. Ammar Hasan

SEECS, NUST

How to contact me
Try to ask questions during the class so that everyone can benefit from the answer After lectures By Email Never call me on my mobile phone

Dr. Ammar Hasan

SEECS, NUST

What is control theory?

It is a discipline of engineering and mathematics that deals with behavior of dynamical systems The basic purpose of control is to get a desired behavior from a dynamical system

Dr. Ammar Hasan

SEECS, NUST

Examples of dynamical systems

Dr. Ammar Hasan

SEECS, NUST

More about dynamical systems

Almost all physical systems that move or have moving parts are dynamical systems All analog electrical circuits are dynamical systems Dynamical systems are not necessarily physical
some numerical algorithms are also dynamical systems e.g. Newtons method for solving equations)

Dr. Ammar Hasan

SEECS, NUST

Inputs/outputs of a dynamical system

Inputs System Output

Fuel amount

Location

Direction

Dr. Ammar Hasan

SEECS, NUST

Inputs/outputs of a dynamical system

Inputs System Output

x x+y 4

Dr. Ammar Hasan

SEECS, NUST

Inputs/outputs of a dynamical system

Inputs System Output

Temperature Weather

Wind speed
Humidity

Dr. Ammar Hasan

SEECS, NUST

Inputs/outputs of a dynamical systems

All dynamical systems have output(s) Some dynamical systems have inputs
E.g. helicopters, trains, robots, etc.

Some dont have inputs (called autonomous systems)

E.g. weather
Dr. Ammar Hasan SEECS, NUST

Review Slide
In your notebook write 3-4 examples of dynamical systems? Do all dynamical systems have inputs and outputs?

Dr. Ammar Hasan

SEECS, NUST

What is control theory?

The basic purpose of control is to get a desired behavior from a dynamical system

Dr. Ammar Hasan

SEECS, NUST

Desired behavior
Car takes the passengers to a specific location while avoiding accidents. Manufacturing robot places the part in the right spot and welds it.

Dr. Ammar Hasan

SEECS, NUST

Who decides what is the desired behavior

Desired behavior is usually set by a human or some kind of artificial intelligence

Dr. Ammar Hasan SEECS, NUST

What is control theory?

The basic purpose of control is to get a desired behavior from a dynamical system

Dr. Ammar Hasan

SEECS, NUST

Review Slide
What is control theory? Give three real life examples of the basic purpose of control
Example 1: A rocket is a dynamical system. The basic purpose of control is to make sure that the rocked reaches the moon. Example 2: A manufacturing robot is a dynamical system.. Example 3:
Dr. Ammar Hasan SEECS, NUST

How to get a desired behavior from a dynamical system?

Fuel amount Direction Location

Temperature

Weather

Wind speed Humidity

Dr. Ammar Hasan

SEECS, NUST

How to get a desired behavior from a dynamical system?

Fuel amount Direction Location

Temperature

Weather

Wind speed Humidity

By applying appropriate inputs

Dr. Ammar Hasan SEECS, NUST

What is a controller?
Something that generates the inputs to be applied to a dynamical system
Controller Inputs

System

Output

Fuel amount Location Direction

Dr. Ammar Hasan

SEECS, NUST

Examples of controllers
Car driver Aircraft Pilot
Human controllers

Autopilot Cruise control Rocket trajectory control Helicopter balancing

Dr. Ammar Hasan

Automatic controllers

SEECS, NUST

Why use automatic controllers

For our convenience, e.g. autopilot Some tasks are too difficult for humans to control, because
Need a very fast response, e.g. segway Too complex, e.g. rocket

Can get better performance than humans, e.g. automatic braking system (ABS)

Dr. Ammar Hasan

SEECS, NUST

Control vs Automatic Control

Control can be manual or automatic Whenever we talk about Control we usually mean Automatic control People dont use the term Automatic control unless they really want to emphasize the automatic part.
Dr. Ammar Hasan SEECS, NUST

Detailed example: Inverted Pendulum

What is an inverted pendulum?

Dr. Ammar Hasan

SEECS, NUST

Detailed example: Inverted Pendulum

How efficient are humans in controlling it? How efficient is automatic control?

Dr. Ammar Hasan

SEECS, NUST

Detailed example: Inverted Pendulum

Applications 1

Dr. Ammar Hasan

SEECS, NUST

Detailed example: Inverted Pendulum

Applications 2

Dr. Ammar Hasan

SEECS, NUST

Detailed example: Inverted Pendulum

Applications 2

Dr. Ammar Hasan

SEECS, NUST

Detailed example: Magnetic Levitation

What is magnetic levitation

Dr. Ammar Hasan

SEECS, NUST

Detailed example: Magnetic Levitation

Application: Magnetic levitation train
Speed up to 450 km/hour

Dr. Ammar Hasan

SEECS, NUST

Magnetic Levitation Train

Dr. Ammar Hasan

SEECS, NUST

Review Slide
Why control? What is the importance of control? What is a controller? What is the difference between automatic control and manual control. Gives examples of each case.
Dr. Ammar Hasan SEECS, NUST

Walking exact distance without sensing

Can you walk exactly to the end of this room with your eyes closed and not feeling around If not, then why?

Dr. Ammar Hasan

SEECS, NUST

Driving a car with your eyes closed

Can someone drive a car with his/her eyes closed? If yes, in what conditions? If not, then why? Can you keep the speed of the car around 60Km/h on a straight road without using any of your senses.
Dr. Ammar Hasan SEECS, NUST

What is feedback
Controller use the information of the output in generating the input
Fuel amount

Location
Direction

Feedback
Dr. Ammar Hasan SEECS, NUST

Open loop vs closed loop

A system without feedback is an open loop system. A system with feedback is called a closed loop system.

Most dynamical systems cannot be controlled without feedback.

Dr. Ammar Hasan SEECS, NUST

Review Slide
What is feedback, open loop and closed loop? Why is feedback important?

Give one example of a system that uses feedback Give one example of a case where you use feedback in your life
Dr. Ammar Hasan SEECS, NUST

Convention for drawing control systems

input

output system

Dr. Ammar Hasan

SEECS, NUST

Desired behavior revisited

Fuel amount

Location
Direction

Feedback
Dr. Ammar Hasan SEECS, NUST

Desired behavior revisited

Lahore

Fuel amount

Location
Direction

Feedback
Dr. Ammar Hasan SEECS, NUST

Desired behavior revisited

???

Fuel amount

Location
Direction Driver

Feedback
Dr. Ammar Hasan SEECS, NUST

Desired behavior revisited

??? Desired behavior Fuel amount

Location
Direction Driver

Feedback
Dr. Ammar Hasan SEECS, NUST

A complete control system

Desired behavior (reference)

Controller

input

system

output

Ref.

Controller

input

system

output

Dr. Ammar Hasan

SEECS, NUST

What we will not study in this course

Microcontrollers Programmable logic controllers (PLCs)

Dr. Ammar Hasan

SEECS, NUST

 Mathematical representations of a plant Transfer functions, pole/zeros

Dr. Ammar Hasan

SEECS, NUST