MT 421: Automatic Control in

Mechanical Systems
Instructor. Gamal Abdelnasser

Dr. Shuaiby Mohamed

 Contact Information
Lecturer:
- Dr. Gamal Abdelnasser
Office: 3rd Floor – Mechanical Engineering Departement
Email: [email protected]
Office hours: 8:00-11:00 Am on Monday
10:00-12:00 Pm on Wednesday
Teaching Assistants:
- Eng. abrar

10/3/2023
 Learning Objectives

 Understanding the mathematical modeling theory of different Mechanical/Electrical systems

 Understanding the concepts of feedback control and transient response.

 Applying different controller design techniques to achieve the desired performance.

 Using the frequency response and root locus concepts to analysis the transient response and

stability of system
What is Control System?
What is Control System?
 Grading System
Hours per Week
Maximum Marks
Exam
Code No Course Title Prac.
Hours
Lec. Excer. Total Year Work or Final Total
Oral
Automatic Control in
MT 421 Mechanical Systems 4 2 6 3 50 - 100 150

Year Work

Mid-term exams 40

Project 10
Course plan
 References

• K. Ogata, Modern Control Engineering, 5th ed.

• R.C. Dorf and R.H. Bishop, Modern Control Systems, 12th ed.

• Norman S. Nise, Control Systems Engineering, 6th ed.

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 Course plan
Lecture 1 Introduction
Lecture 2 Transfer Function ＆ Laplace Transform ＆ Mathematical Modelling of Mechanical Systems
Lecture 3 Mathematical Modelling of Electrical & Electronic Systems ＆Fluid Systems and Thermal Systems
Lecture 4 Block Diagram Representation of Control Systems
Lecture 5 Block Diagram Representation of Control Systems (Cont.)
Lecture 6 Case Study
Lecture 7 Time Domain Analysis of First Order Systems
Lecture 8 Time Domain Analysis of 2nd Order Systems
Lecture 9 Mid-term Exam 1
Lecture 10 Time Domain Analysis of 2nd Order Systems
Lecture 11 Time Domain Analysis of 2nd Order Systems (Cont.)
Lecture 12 Routh-Herwitz Stability Criterion
Lecture 13 Steady State Error
Lecture 14 Basic Control Actions
Lecture 15 Design of Controllers
Lecture 16 Frequency Response Analysis
Lecture 17 Frequency Response Analysis (Cont.)
Lecture 18 Frequency Response Analysis (Cont.)
Lecture 19 Root Locus Method
Lecture 20 Mid-Term Exam 2
Lecture 21 Root Locus Method (Cont.)
Lecture 22 Project Evaluation
Lecture 23 Project Evaluation
Lecture 1: Introduction to Linear Control System
 Today’s Lecture
Today we are going to discuss the following topics:

 Basic Components of any Control System

 Classification of Control Systems

 Type of Control Systems

 Why do we need closed-loop control?

 Introduction (Cont.)
Control system applications
• Space shuttle lifts off
 Introduction (Cont.)
Control system applications
• A self-guided vehicle
 Introduction (Cont.)

Reasons for using automatic

control
• Power amplification
• Remote control
• Reduce workload
• Perform tasks people can’t
• Reduce the effects of disturbances
• Reduce the effects of plant variations
• Stabilize an unstable system
• Improve the performance of a system (time response)
• Improve the linearity of the system
 Introduction (Cont.)

Reasons for using automatic control

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Decontaminating Robot
Cleaning the main circulating pump housing in the nuclear power plant
 Introduction (Cont.)

Reasons for using automatic control

The system must be able to yield the correct output even with a disturbance.

Antenna system
 Basic Components of a Control System
Disturbance

Input Or
or Controlled Variable
Set point
 Basic Components of a Control System (Cont.)
Disturbance

Input Or
or Controlled Variable
Set point
 Basic Components of a Control System (Cont.)
Disturbance

Input Or
or Controlled Variable
Set point

Controlled Variable– It is the quantity or condition that is measured and Controlled. Normally controlled
variable is the output of the control system.
Classification of Control Systems
Control Systems

Natural Man-made

Manual Automatic

Open-loop Closed-loop

Non-linear linear
Non-linear linear

Time variant Time invariant

Time variant Time invariant
 Type of Control Systems
• Natural Control System

Human Body

• Consider how the human body regulates temperature. If the body needs to heat
itself, food calories are converted to produce heat
• Our eyes follow a moving object to keep it in view
• Our hands grasp the object and place it precisely at a predetermined location.
 Type of Control Systems(Cont.)

• Man-made Control System

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Chemical Process
Aeroplanes
 Type of Control Systems(Cont.)

• Manual Control Systems

Water Level Control

Room Temperature regulation Via Electric Fan
 Type of Control Systems(Cont.)

• Automatic Control System

Room Temperature regulation

Via Air Conditioner Home Water Heating Systems (Geysers)

Water-level float regulator

 Type of Control Systems(Cont.)
Open-Loop Control Systems
Open-Loop Control Systems utilize a controller or control actuator to
obtain the desired response.

Open-loop control system (without feedback)

• Output has no effect on the control action.

• In other words output is neither measured nor feedback.
 Type of Control Systems(Cont.)
Open-Loop Control Systems

Electric Fan

Washing Machine

microwave oven
Dishwasher
 Type of Control Systems(Cont.)
Closed-Loop Control Systems

• A system that maintains a prescribed relationship between the output and some reference input by
comparing them and using the difference (i.e. error) as a means of control is called a feedback control
system.
 Type of Control Systems(Cont.)
Closed-Loop Control Systems

Examples:- Refrigerator, Electric Iron.

Air conditioner
 Type of Control Systems(Cont.)
Why do we need closed-loop control systems
 Type of Control System(Cont.)
Why do we need closed-loop control systems
 Type of Control System(Cont.)
Why do we need closed-loop control systems
Open-Loop vs Closed-loop Control Systems
 Type of Control Systems(Cont.)
Servo System (Dynamic position control systems)
• A Servo System or (servomechanism) is a feedback control system in which the output is
some mechanical position, velocity or acceleration.
• Used in machine tools, industrial processes, robots, cars, and office machines

Antenna Positioning System Modular Servo System (MS150)

Linear System
Time Invariant System
 Simulation With MATLAB

 Computer simulation is a vital part of this course

 MATLAB simulations will allow you to better understand and absorb the
course material

 The study can be made more interesting and challenging by introducing the
simulation technology into course teaching

 By applying MATLAB language and Simulink simulation tools, the system

synthesis design problem in Automatic control course can be dealt with very
easy.
 Any questions or
suggestions?!

End of Lecture 01