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 10%
Assignments 5%
OHTs 17.5% + 17.5%
Final Exam 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

2 x
x+y 4
2 y

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
Location
Direction

Temperature
Weather Wind speed

Humidity

Dr. Ammar Hasan SEECS, NUST

How to get a desired behavior from
a dynamical system?
Fuel amount
Location
Direction

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 Human
Aircraft Pilot controllers

Autopilot
Cruise control Automatic
Rocket trajectory control controllers

Helicopter balancing

Dr. Ammar Hasan 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)
input output
Controller system

Ref. input output

+ Controller system
-

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