SE 302 Linear systems

Introduction
Dr. Fouad M. AL-Sunni

Role
z

Automation/Control systems engineers

are concerned with understanding and
controlling segments of their
environment (Systems) to provide useful
economic products for society

Activities
z

Understanding
z Modeling
z Designing
D i i
z Testing
z Implementation
z Monitoring

Some historical examples

James Watts
Watt s Fly ball governor (Europe
(Europe-1769)
1769)

Some historical examples

Water Level float (russia
(russia-1765)
1765)

Automation impact
p
z
z
z
z
z
z
z

PRODUCTIVITY
and to obtain high-quality products
M
Material
i lh
handling
dli
Condition Based Monitoring
Condition Based Maintenance (Predictive
maintenance)
Safety and Security
Transportation
Etc

Foundation/knowledge
g
z
z

Feedback theoryy
Linear system analysis

Knowledge
z
z
z
z

Network theory
Communication theory
Reliability and maintenance theory
S f t theory
Safety
th

Definition
z

A control system is an interconnection of

components forming a system
configuration that will provide a desired
system response.

Analysis in general involves:

z

Linear system Theory : Assumes Causeeffect relationship for the components of a

y
system.

Control System
y
Definition

A control system consists of subsystems and processes (plants)

assembled for the purpose of controlling the outputs of the
processes.
processes

Response
p
Characteristics

Advantages
g of Control Systems
y
We build control systems for four primary reasons:
Power amplification (gain)
ex: Positioning a large radar antenna by low-power
rotation of a knob.
ex: Opening and closing valves
Remote control
ex: Robot arm used to pick up radioactive material.
ex: Unmanned Aerial Vehicules.
ex: Remote Terminal Unit in oil production
Convenience of input form
ex: Changing room temperature by thermostat position.
ex: Quality Control using limit switch
Compensation for disturbances
ex: Controlling antenna position in the presence of
large wind disturbance torque.
ex: Control Inventory under variable demand

Open-Close-Multivariable
p

Usual Representation
p
z

Every component (or process) can be

represented by a block
Effect

Cause
Input

Process

Output

SISO: Single
g input
p Single
g output
p

Usual Representation
p

Desired
es ed
Output response

SIMO:
MISO:
MIMO:

Act ator
Actuator

Single input multimulti-output

Process

Output

Open-Loop
p
p Control System
y
z

An open-loop
open loop control system utilizes an
actuating device to control the process
directly without using feedback
feedback.

Desired
Output response

Actuator

Process

Output

Open
p loop
p system
y

Close-Loop
p Feedback Control
z

A close-loop
close loop system uses a
measurement of the output and feedback
of this signal to compare it with the
desired output (reference or command)

Desired
Output

Comparison

Actuator

Measurement

Process

Output

Advantages/Disadvantages
g
g
Open-Loop
p
p Systems
y
z Simple
z Inexpensive
z Cannot correct for
disturbances or plant
variations
variations.

Closed-Loop
p Systems
y
z Complex & expensive
z Less sensitive to noise,
disturbances, plant
variations
z Better
B tt control
t l off transient
t
i t&
steady-state response
z Better accuracy
z Self-sustained oscillations
possible

An Example:
Effect of automation
z

In 1925 588
588,000
000 pp were needed to mine
520 million tons of coal
z In 1980,
1980 only 208,000
208 000 pp were needed to
mine 774 million tons.

Examples:
Automobile steering

Examples:
A boiler generator

Examples:
National income

The design
g p
process
z

Definition
Design is the process of inventing the
forms,, parts,
p
, and details of a system
y
to
achieve a specific goal
Terminology
gy
z
z
z
z
z

Specifications
alternatives
Trade-off
Synthesis
optimization
ti i ti

The design
g p
process

Design
g Objectives
j
z

Produce desired transient response

response.
z Reduce steady-state error.
z Achieve
A hi
closed-loop
l
dl
stability.
t bilit
Total Response = Natural Response +
Forced Response
The closed-loop
closed loop system
systems
s natural
response must not dominate! The output
must follow the input
input.

A design example
Open loop

A design example
Closed loop
Closed-loop

Another example
p

Another example
I/O

Case Study: Antenna Azimuth Position

Control System
A. System Concept

B. Detailed Layout

Case Study: Antenna Azimuth Position

Control System (continued)
C. Schematic diagram

D. Functional block diagram

Case Study: Antenna Azimuth Position

Control System Response
System normally operates to drive pointing error to zero.
Motor is driven only when there is a pointing error.
The larger the error the faster the motor turns.
turns
Too large a signal amplifier gain could cause overshoot/instability.

Satisfactory design revolves around a

balance between transient performance,
steady-state performance, and stability.
Adjusting gain & adding compensators are
the tools a control engineer has to achieve
this balance.

Standard Test Signals

HW # 1
z

E1.1
E1
1
z P1.1,1.4,1.7,and 1.15