Benha University

Faculty of Engineering (Shubra)

Electrical Engineering & Control Program (EEC)

EEC321: Automatic Control(1)

Lecture (1)
 Outline:

• About me! / Contact.

• Course Evaluation.

• Course Content.

• References and Textbooks.

• Course Introduction

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 Contact:
E-mail: [email protected]

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Course Evaluation:

Assessment Week Weight

Midterm Examination 8 30 %
Final Examination 14 40 %
Quizzes All 10 %
Home assignments All 10 %
Matlab Mini Project 12 10%
Total 100 %

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 Course Content:
➢ Laplace Transform.
➢ Block Diagram,
➢ Signal Flow Graph.
➢ State Variables Analysis.
➢ Time-Domain Analysis for 1st and 2nd order systems.
➢ PID controller of LTI systems.
➢ Steady-State Error Analysis.
➢ Stability Analysis using Routh-Hurwitiz.
➢ Root Locus Analysis.

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Course Content as listed in Program Bylaw:

Introduction to control systems: Open loop systems, closed loop systems, transfer
function and concept of poles and zeros. Block diagram reduction techniques. Signal
flow graph techniques. Modeling of some electrical, mechanical and thermal systems.
Time response of first and second order systems, PID controllers. Steady-state error.
Concept of stability: Routh’s stability criterion. Root locus method. State- space
representation: State model of linear systems using physical variables, State, space
representation using phase variables. Properties of transition matrix and solution of
state equation.

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References and Textbooks:

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 References and Textbooks:

➢ Norman S. Nise, “Control Systems Engineering ”, 7th Edition, Wiley Press, 2017.

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References and Textbooks:
➢ Katsuhiko Ogata, “Modern Control Engineering”, 5th ed., Prentice Hall, 2010.

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 References and Textbooks:
➢ F. Golnaraghi and Benjamin C. Kuo, “Automatic control Systems’’, 10th Edition,
McGraw Hill, Inc. 2015.

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 Introduction to Dynamic Systems:
System: An interconnection of elements and devices for a desired purpose.
Process: The plant, or system under control.
The input and output relationship represents the cause-and-effect
relationship of the process.

Input Process Output

Examples:
➢ Pancreas.
➢ Hand.
➢ Eye.

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 Course Introduction:
Systems:
• Mechanical Systems.
• Electrical and Electromechanical Systems.
• Fluid and Thermal Systems

Control System:

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 Course Introduction:
Control Systems:
Open-Loop
Input or Control Manipulated Output or
System variable Process Controlled variable
reference
Examples: Electric Fan, microwave oven…etc.

Closed-Loop
Input Output
Comparator Controller Process

Measurement

Examples: Refrigerator, Air conditioner…etc.

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Course Introduction:
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

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 Mathematical Background:
Unit-Step Function
1 𝑡>0
𝑢 𝑡 =ቊ
0 𝑡<0

1
𝑈 𝑆 =
𝑆
Delayed Unit-Step Function
1 𝑡>3
𝑢 𝑡−3 =ቊ
0 𝑡<3

1 −3𝑆
𝑈 𝑆 = 𝑒
𝑆

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Mathematical Background:
Rectangular (Gate) Function
v(t) = u)t – 1.2) – u)t – 3.8)

1 −1.2𝑆 1 −3.8𝑆
𝑉 𝑆 = 𝑒 − 𝑒
𝑆 𝑆

1 −1.2𝑆
𝑉 𝑆 = 𝑒 − 𝑒 −3.8𝑆
𝑆

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 Mathematical Background:

Unit Impulse Function

∞ 𝑡=0
𝛿 𝑡 =ቊ
0 ∀𝑡, 𝑒𝑥𝑐𝑒𝑝𝑡 𝑡 = 0

𝛿 𝑆 =1

Delayed Impulse Function

∞ 𝑡=𝑎
𝛿 𝑡 − 𝑎 = ቊ0 ∀𝑡, 𝑒𝑥𝑐𝑒𝑝𝑡 𝑡 = 𝑎

𝛿 𝑆 = 𝑒 −𝑎𝑆

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Mathematical Background:
Unit Ramp Function
𝑡 𝑡>0
𝑟 𝑡 =ቊ
0 𝑡≤0

1
𝑅 𝑆 = 2
𝑆

Delayed Ramp Function

𝑡 𝑡>𝑎
𝑟 𝑡−𝑎 =ቊ
0 𝑡≤𝑎

1 −𝑎𝑆
𝑅 𝑆 = 2𝑒
𝑆

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Mathematical Background:
Laplace Transform
∞
𝐿 𝑓 𝑡 = න 𝑓 𝑡 × 𝑒 −𝑆𝑡 . 𝑑𝑡 = 𝐹(𝑆)
0

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Find Laplace transform for the exponential function f(t) = e-at u(t)

Find Laplace transform for the exponential function f(t) = u(t)

Find Laplace transform for the exponential function f(t) = r(t)

∞
𝑅 𝑠 =𝐿 𝑟 𝑡 = න 𝑡 𝑒 −𝑠𝑡 𝑑𝑡
0

∞ ∞
𝑡 𝑒 −𝑠𝑡 ∞ 𝐴𝑒 −𝑠𝑡 1
𝑅 𝑠 =න 𝑡 𝑒 −𝑠𝑡 𝑑𝑡 =− ቚ +න 𝑑𝑡 = 2
0 𝑠 0 0 𝑠 𝑠

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Laplace Transform for Important Functions:

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Properties of Laplace Transform:

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Linearity:

Time Shift:
4 4
𝐿 sin 4𝑡 = 𝑡ℎ𝑒𝑛 𝐿 sin4(𝑡 − 2) = 𝑒 −2𝑆
𝑆 2 + 16 2
𝑆 + 16

Frequency Shift:
6 6
𝐿 𝑡3 = 𝑡ℎ𝑒𝑛 𝐿 𝑒 −2𝑡 𝑡 3 =
𝑆4 𝑆+2 4

1
➢ 𝐹 𝑠 = 𝑆(𝑆+1)
𝑆 1
Initial Value: lim 𝑆𝐹 𝑠 = lim
𝑠→∞ 𝑠→∞ 𝑆(𝑆 + 1)
=
∞+1
=0

𝑆 1
Final Value: lim 𝑆𝐹 𝑠 = lim
𝑠→0 𝑠→0 𝑆(𝑆 + 1)
=
0+1
=1

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Inverse Laplace Transform:

𝑠 3 + 2𝑠 2 + 6𝑠 + 7
𝐹 𝑠 =
𝑠2 + 𝑠 + 5
Since the order of numerator > the order of denominator, we must perform long division:

2
𝐹 𝑠 =𝑠+1+
𝑠2 + 𝑠 + 5

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Example:
2 2
𝐹 𝑠 = =
𝑆 2 + 7𝑆 + 12 𝑆 + 3)(𝑆 + 4
2 𝐴 𝐵
𝐹 𝑠 = = +
𝑆 + 3)(𝑆 + 4 𝑆+3 𝑆+4

Using partial fraction: A=2 and B= -2

2 2
𝐹 𝑠 = −
𝑆+3 𝑆+4

𝑓 𝑡 = 2𝑒 −3𝑡 − 2𝑒 −4𝑡

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 Solve for y(t) if all initial values are zero.

𝑑 2 𝑦(𝑡) 𝑑𝑦(𝑡)
+ 12 + 32 𝑦 𝑡 = 32𝑢(𝑡)
𝑑𝑡 2 𝑑𝑡
Y(s){S2+12S+32} = 32/S

32 𝐴 𝐵 𝐶
= + +
𝑆(𝑆 + 4)(𝑆 + 8) 𝑆 𝑆 + 4 𝑆 + 8

Using partial fraction: A=1, B= -2 and C=1

𝑟1 𝑟2 𝑟3
𝐹 𝑠 = + + +𝑘
1 2 1 𝑆 − 𝑝1 𝑆 − 𝑝2 𝑆 − 𝑝3
𝑌 𝑠 = − +
𝑆 𝑆+4 𝑆+8

𝑦 𝑡 = 1 − 2𝑒 −4𝑡 + 𝑒 −8𝑡

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 2
𝐹 𝑠 = 2
൫𝑆 + 3) 𝑆 + 4

2 𝐴 𝐵 𝐶
𝐹 𝑠 = = + + 2
൫𝑆 + 3) 𝑆 + 4 2 𝑆+3 𝑆+4 𝑆+4
2 2 2
𝐹 𝑠 = − − 2
𝑆+3 𝑆+4 𝑆+4

𝑓 𝑡 = 2𝑒 −3𝑡 − 2𝑒 −4𝑡 − 2𝑡𝑒 −4𝑡

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 𝑆+3
𝐹 𝑠 =
𝑆 + 5 2 (𝑆 2 + 4𝑆 + 5)

𝑆+3 𝐴 𝐵 𝐶𝑆 + 𝐷
𝐹 𝑠 = = + +
𝑆 + 5 2 (𝑆 2 + 4𝑆 + 5) 𝑆 + 5 𝑆+5 2 𝑆 2 + 4𝑆 + 5
𝑆 + 3 = 𝐴 𝑆 + 5 𝑆 2 + 4𝑆 + 5 + 𝐵 𝑆 2 + 4𝑆 + 5 + (𝐶𝑆 + 𝐷) 𝑆 + 5 2

At s=−5, −2 = B(25-20+5) → B= − 0.2

order of left side right side

coefficient coefficient coefficient
3rd (s3) 0 A+C
2nd (s2) 0 9A-0.2+10C+D
1st (s1) 1 25A-0.8+25C+10D
0th (s0) 3 25A-1+25D

−0.02 0.2 0.02𝑆 + 0.18

𝐹 𝑠 = − 2+
𝑆+5 𝑆+5 𝑆+2 2+1
−0.02 0.2 0.02 𝑆 + 2 + 0.14
− 𝐹 𝑠 = +
𝑆+5 𝑆+5 2 𝑆+2 2+1
−0.02 0.2 𝑆+2 1
𝐹 𝑠 = − + 0.02 + 0.14
𝑆+5 𝑆+5 2 𝑆+2 2+1 𝑆+2 2+1
𝑓 𝑡 = −0.02𝑒 −5𝑡 − 0.2𝑡𝑒 −5𝑡 + 0.02𝑒 −2𝑡 cos 𝑡 + 0.14𝑒 −2𝑡 si n( 𝑡)
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𝑓 𝑡 = −0.02𝑒 −5𝑡 − 0.2𝑡𝑒 −5𝑡 + 0.02𝑒 −2𝑡 cos 𝑡 + 0.14𝑒 −2𝑡 si n( 𝑡)

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 Pole-Zero Map

𝐾 𝑆 + 2 𝑆 + 10
𝐺 𝑠 = 2
𝑆 𝑆 + 1 𝑆 + 5 𝑆 + 15

G(s) has zeros at s= –2, s= –10, also has poles at s = 0, s = –1, s = –5 and double
poles at s = –15.

Pole → X Zero → O J

S-Plan


O O
–15 –10 –5 –2 –1 0

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 𝑆 2 + 2𝑆 + 2
Pole-Zero Map 𝑇. 𝐹. =
𝑆 𝑆 + 1 𝑆 + 2 𝑆 2 + 6𝑆 + 13

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End of Lecture

Best Wishes

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