Lecture 1 Introduction to Control Systems

chestpeeverAI and Robotics

Nov 13, 2013 (3 years and 8 months ago)

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30/09/2013, Monday

1

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

1

Professor Dr. Mannan Saeed Muhammad

mannan@hanyang.ac.kr



Email subject: [Control System Fall 2013]


Lecture 1



Introduction to Control Systems

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

2

Introduce yourself


Lets start by introducing yourself first


Name


School/Department


Major


Where are you from?

30/09/2013, Monday

2

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

3

About the Instructor


Asst. Prof
.

Dr. Mannan Saeed Muhammad


Office: Room 704
-
2,



Engineering Center Annex


Email:
mannan@hanyang.ac.kr


Subject: [Control System Fall 2013]


Office Meeting Hours for Students:



10 am ~ 4 pm : Monday and Wednesdays


Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

4

About the Instructor


I am from Pakistan


And I speak very fast


As Course will be in English


So, If you cant understand my pronunciation


Then a獫sque獴ion猠


Or ask to repeat


Feel free to ask QUESTIONS



And LECTURE 1 is not included in exam :P


30/09/2013, Monday

3

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

5

Introduction to Control Systems


This course is about


the analysis and design of control systems


with emphasis on system


Modeling


state space representation


modern design principles


Computer simulation using Matlab.



Modern Control Systems

Feedback Control of Dynamic Systems


Twelfth Edition


Sixth Edition


Dorf and Bishop


Franklin, Powell and Emami
-
Naeini



Assignments



20%


Quizzes



20%


Mid
-
Term Examination


30%


Final Examination


30%



Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

6

Introduction to Control Systems


Introduction to control systems


Mathematical models of systems


State variable models


Feedback control system characteristics


Performance of feedback control systems


Stability of linear feedback systems


Root locus method


Frequency response methods


Stability in frequency domain


Design of feedback control systems



Advanced Topics


Design of state variable feedback systems


Robust control systems


Digital
control systems



30/09/2013, Monday

4

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

7

Introduction


S祳yem


arrangement, set, collection of things connected or related in
such a manner as to form an entirety or whole


arrangement of physical components connected or related in
such a manner as to from and/or act as an entire unit


Control


regulate, direct or command



Control System


arrangement of physical components connected or related in
such a manner as to command, direct or regulate itself or
another system

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

8

Introduction


Control S祳yem


Input


stimulus, excitation or command applied to a control system,
typically from an external energy source, usually in order to produce
a specified response from the control system


Output


actual response obtained from a control system. It may or may not
be equal to the specified response implied by the input


Component or Process


input
-
output relationship representing the cause
-
and
-
effect
relationship


represent a processing of the input signal to provide an output
signal variable with or without power amplification


30/09/2013, Monday

5

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

9

Figure 1.1

Process to be control l ed.



Input


stimulus, excitation or command applied to a control system,
typically from an external energy source, usually in order to produce
a specified response from the control system


Output


actual response obtained from a control system. It may or may not
be equal to the specified response implied by the input


Component or Process


input
-
output relationship representing the cause
-
and
-
effect
relationship


represent a processing of the input signal to provide an output
signal variable with or without power amplification


Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

10

Figure 1.2

Open
-
loop control system (without feedback).




Open Loop and Close Loop Control Systems


Open Loop


control system in which the control action is independent of the output



Close Loop


control system in which the control action is somehow dependent on the output




Feedback


property of the closed
-
looped system which permits the output (or some
other controlled variable) to be compared with the input to the system
(or an input to some other internally situated component or subsystem)
so that the appropriate control action may be formed as some function
of the output and input


30/09/2013, Monday

6

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

11

Figure 1.3

Closed
-
loop feedback control system (with feedback).







Close Loop


control system in which the control action is somehow
dependent on the output




Feedback


property of the closed
-
looped system which permits the output
(or some other controlled variable)

to be compared with the input
to the system
(or an input to some other internally situated
component or subsystem)

so that the appropriate control action
may be formed as some function of the output and input


Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

12

Figure 1.4

Closed
-
loop feedback system with external disturbances and measurement noise.

30/09/2013, Monday

7

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

13

Figure 1.5

Multiloop feedback system with an inner loop and an outer loop.

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

14

Figure 1.6

Multivariable control system.

30/09/2013, Monday

8

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

15

Figure 1.7

Watt’s flyball governor.

Brief History of Automatic Control

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

16

Figure 1.8

Water
-
level float regulator.

30/09/2013, Monday

9

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

17

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

18

Table 1.1 (continued) Selected Historical Developments of Control Systems

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10

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

19

Figure 1.9

(a) Automobile steeri ng control system. (b) The dri ver uses the di fference between the actual and the
desi red di recti on of travel to generate a control led adjustment of the steeri ng wheel. (c) Typi cal direction
-

of
-

travel
response.

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

20

Figure 1.10

A manual control system for regulating the level of fluid in a tank by adjusting the output valve. The
operator views the level of fluid through a port in the side of the tank.

30/09/2013, Monday

11

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

21

Figure 1.11

The Honda P
3

humanoid robot. P
3

walks, climbs stairs, and turns corners. Photo courtesy of American
Honda Motor, Inc.

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

22

30/09/2013, Monday

12

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

23

Figure 1.12

A three
-
axis control system for inspecting individual semiconductor wafers with a highly sensitive camera.

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

24

Figure 1.13

Coordinated control system for a boiler
-

generator.

30/09/2013, Monday

13

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

Modern Control Systems
, Twelfth Edition

Richard C.
Dorf

and Robert H. Bishop

25

Figure 1.15

A feedback control system model of the national income.