Lect 1 Modern Control Engineering

Faculty of Engineering and
Materials Science
Modern Control Engineering

MCTR 702
Lecture # 1
Background and Preview

Sept. 3th, 2016
Dr. Amir R. Ali

Assist. Prof. of Mechatronics Engineering
amir.ali@guc.edu.eg
C7.108
II. Course Assessment

Course assessment
Office hours: By appointment

Teaching Assistant:
Eng. Menna Mohsen, Eng. Menna Magdy, Eng. Bishoy
Text Book:
William L. Brogan,MODERN CONTROL THEORT,
Prentice Hall Publishing, 3rd Edition, ISBN : 0-13-589763-7
Course Assessment:
10%..... 3 Assignments (no best) (Theoretical)
20%..... 3 Quizzes (best two) (Theoretical)
30%..... Mid-Term exam (Theoretical)
40%..... Final-Term exam (Theoretical)
Attendance: 75% of the course must be attended

Important: The student has to attend in his/her scheduled group (No
group change)
Dropping the course:
not later than 2 weeks after the start by notice to the adm. office.
Copyright 2016 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering
(2)
III. Course Contents
Course Contents
Ch. 1
BACKGROUND AND PREVIEW
Ch. 3
STATE VARIABLES AND THE STATE SPACE

DESCRIPTION OF DYNAMIC SYSTEMS
Systems, Systems Theory and Control Theory

Modeling
Mathematical Representation of Systems
The Concept of State

State Space Representation of Dynamic Systems
Obtaining the State Equations
From Input-Output Differential of Difference
Equations
Simultaneous Differential Equations
Using Simulation Diagrams
State Equations From Transfer Functions
(3)
Ch. 7
EIGENVALUES AND EIGENVECTORS
Ch. 8
FUNCTION OF SQUARE MATRICES AND

THE CAYLEY-HAMILTON THEOREM
Definition of the Eigenvalue-Eigenvector Problem

Eigenvalues
Determination of Eigenvectors
Determination of Generalized Eigenvectors
Powers of a Matrix and Matrix Polynomials

The Characteristic Polynomial and Cayley-Hamilton
Theorem
Some Uses of the Cayley-Hamilton Theorem
Ch. 9
ANALYSIS OF CONTINOUS LINEAR STATE

EQUATIONS
System Modes and Model Decomposition
Model Decomposition
(4)
Ch. 10
Ch. 11
STABILITY
Equilibrium Points and Stability Concepts
Stability Definitions
Linear System Stability
Linear Constant Systems
The Direct Method of Lyapunov
CONTROLLABILITY AND OBSERVABILITY FOR

LINEAR SYSTEMS
Definitions
Controllability
Observability
Time-Invarient Systems with Distinct Eigenvalues
Time-Invarient Systems with Arbitrary Eigenvalues
Ch. 13
DESIGN OF LINEAR FEEDBACK CONTROL SYSTEMS

State Feedback and Output Feedback
Pole Assignment Using Sate Feedback
Partial Pole Placement Using Static Output Feedback
Observers
(5)
Lecture # 1
Lecture # 1
Background and Preview
Contents
Systems, Systems Theory and Control Theory
Modeling
Mathematical Representation of Systems
At the end of this lecture the student will know

Mathematical Representation of Mechanical and Electrical
Systems using
o Differential Equations Representation
o Transfer Function Representation
(6)
Lecture # 1
Procedure of control analysis

Actual
system
Physical
system
Continues, where
the inertia and
elastic properties
are continuously
distributed over
the entire volume
Lumped
(concentrated)
parameters
Modeling
Main objective
Design the linear

feedback control
system
Equation of motion
(Mathematical model)
State-space
representation
System of differential
equations
State equation
solution
Is carried out on the bases of

experience skills and experimental
Techniques (Do not model more than
you need)
The system could be:
Controllable & Observable
Controllable & Unobservable
Uncontrollable & Observable
Uncontrollable & Unobservable
Check the
stability
Check the
controllability
Check the
observability
(7)
Modern Control Engineering (Part 1 of 3) Systems, Systems Theory and Control Theory
Is an interconnection of many components or functional
units in such a way as to produce a desired results
I. Control
system
An open-loop control system

A closed-loop control system
(Feedback)
Disturbances
Disturbances
Goals Control u(t)
law
The
system
y(t)
The input is no way influenced by the output

of the system
The output will not behave precisely as
expected if unexpected disturbance act upon
the system
Goals Control u(t)

law
The
system
y(t)
Sensors
Measurement errors
The control input is modified by the
information about the behaviour of the
system output
(8)
Disturbances
II. Control
theory
Goals Control u(t)

The
law
system
In this course, control theory
is assumed to encompass all
Sensors
questions related to design
and analysis of the control
Measurement errors
systems
y(t)
Classical approaches (1930s)

Transfer functions
Frequency domain (s) techniques
P, PD, PID controller
For linear system
Modern control theory (1960s)
Time-domain (t) approach using state variable
(9)
Linear Vs Non-linear system

Where the elastic and damping forces are linear
.
with displacement x and velocity , respectively.
(this will lead to linear differential equations)
The elastic and/or damping forces is/are non-linear
.
with displacement x and/or velocity , respectively
(this will lead to non-linear differential equations)
Response 1
Excitation 1
Linear
System
F1(t)
F2(t)
Superposition
x1(t)
Excitation 2
Response 2
Linear
System
x(t) = c1x1(t) + c2x2(t)
x2(t)
Linear
System
F(t) = c1F1(t) + c2F2(t)
(10)
(Part 2 of 3) Modeling
To put the control theory in practice

Real
world
Modeling
Physical reality
Mathematical
theory
Mathematical equations
To develop a mathematical
model of the system
Warning
The model must not be over simplified Do not model

more than you
The model should not be so complex
need
Analytical modeling
Systematic application of basic physical laws to systems components
Experimental modeling
Selection of mathematical relationships which seems to fit observed
input-output data
(11)
Actual system
(12)

Actual system
Physical system
Do not model
more than
you need
(13)
Analytical
modeling
Systematic
application of basic
physical laws to
systems components
Differential
Equations
Transfer
function
State Variable
Block Diagram
Disturbances
Goals Control u(t)

law
The
system
y(t)
Sensors
Measurement errors
(14)
(Part 3 of 3) Mathematical Representation
Mechanical system
o Linear
o Rotational
1. Differential Equations
x(t)
F
Note that: No. of equations = No. of

Masses = No. of DOF
The Second Law gives us an exact relationship between force, mass, and
acceleration. It can be expressed as a mathematical equation:
mi is the mass
Single degree of
ai is the acceleration
i i
i
freedom
Fi the force
m a F
Element
Spring
Force
Sign
FS=kx=(stiffness)(displacement)
Negative sign (-ve)
Damper
FD=btx=(damping coefficient )(velocity)
Negative sign (-ve)
External
force
Fext=F (Forced) or 0 (Free)
Positive sign (+ve)
(15)

Single degree of freedom
Physical system
Mechanical system
o Linear motion
x(t)
F The physical laws or the governing equation
mi ai Fi
mx f spring f damper f external
By using the
previous
table
mx kx bt x F
Equation of
motion
mx bt x kx F
Equation of motion
(Mathematical model)
(16)

The physical laws or the
governing equation
Physical system
Two degrees of freedom
mi ai Fi
By using the previous table
For mass 1 (m1)
m1x1
f k1 f k2 f c
m1x1 k1 x1 k2 x1 x2 cx1 x2
m1x1 k1 x1 k2 x1 k2 x2 cx1 cx2 0
m1x1 k1 k2 x1 k2 x2 cx1 cx2 0
Equation of
motion for m1
m1x1 cx1 cx2 k1 k2 x1 k2 x2 0
1
(17)

governing equation
Physical system
mi ai Fi
For mass 2 (m2) m2 x2
f k2 f k3 f c f external
m2 x2 k2 x2 x1 k3 x2 cx2 x1 F (t )
m2 x2 k2 x2 k2 x1 k3 x2 cx2 cx1 F (t )
Equation of
motion for m2
m2 x2 k2 k3 x2 k2 x1 cx2 cx1 F (t )
m2 x2 cx1 cx2 k2 x1 k2 k3 x2 F (t )
2
(18)

governing equation
Physical system
mi ai Fi
m1x1 cx1 cx2 k1 k2 x1 k2 x2 0
m2 x2 cx1 cx2 k2 x1 k2 k3 x2 F (t )
1
2
Now, equations (1) and (2) can be arranged in the following matrix form:
m1 0 x1 c c x1 k1 k2
0 m x c c x k
2
2
2 2
k2 x1 0
k2 k3 x2 F (t )
Equation of motion (Mathematical model)

(19)
Plus the static deflection
k mg
Start
F
By using the
previous
table
mi ai Fi
mx f spring f damper f external f gravity

mx k ( x) cx F mg
Static deflection
Equation of
motion
End
k mg
mx k kx cx F mg
mx cx kx F
(20)
Mechanical system
o Rotational
The governing equation
Ftang.
Stiffness of the rod

T
S
J T
Where T is the torque, J is the M.O.I., =d2/dt2 should be in rad/s
Element
Force
Sign
Rod
TS=S=(stiffness)(angular disp.)
Negative sign (-ve)
Rotational
viscous
TD=f=(damping coefficient )(angular

vel.)
Negative sign (-ve)
External
Torque
Text=T or 0 (Free)
Positive sign (+ve)
Note that: No. of equations = No. of Disks= No. of DOF

(21)
Develop a model of an automobile which would be

appropriate for studying the effectiveness of the
suspension system, tire characteristics, and seat design on
passenger comfort.
Example 1.9
Solution
For simplicity, neglect the side and roll motion
Body,
Engine
mp
ks
M
Suspension
system
Wheels
k3
b3
Passenger
J
CG
k4
b4
m1
m2
Tire
k1
b1
k2
Suspension
system
Wheels
b2
Tire
Road surface
(22)
Remember
(k1 & k2) are not equal due to the
pressure on the front > Rear
(m1 & m2) are not equal due to
the suspensions are different
mp
ks
M
(x3 & x4) are

describing the
position of the
centre of the
wheels from
the Ref.
(x1 & x2) are
describing the
position of the tires
from the Ref.
For simplicity, neglect the side

and roll motion
k3
b3
J
CG
k4
b4
m1
xs
x5
b1
k1
x6
xp
m2
xcg
k2
b2
x3
x1
x4
Road
surface
x2
Reference
(23)
Analytical modeling
Systematic application of basic physical
laws to systems components
mi ai Fi For each mass (Linear motion)

J M i
For M only (Rotational motion)
The goal is to develop a mathematical

model to be able later to control
No. of Equation = No. of mass (m1, m2 , mp and 2 more equ. for M linear and
rotational) = 5 Ordinary Deferential Equations (ODE)
For mass 1 (m1) front wheel
m1x3 f k1 f b1 f k2 f b2
m1x3 k1 ( x3 x1 ) b1 ( x3 x1 ) k3 ( x3 x5 ) b3 ( x3 x5 )
1
(24)

For mass 2 (m2) rear wheel
m2 x4 f k2 f b2 f k4 f b4
m2 x4 k2 ( x4 x2 ) b2 ( x4 x2 )
k4 ( x4 x6 ) b4 ( x4 x6 )
For Body mass (M) 2 equations due to

rotation
Due to the linear motion first mi ai
CG
l1
x5
k3
b3
xs
l
k4
Mxcg f k3 f b3 f k4 fb4 f ks
Mxcg k3 ( x5 x3 ) b3 ( x5 x3 )
l2 ks
M
k 4 ( x6 x4 ) b4 ( x6 x4 )
b4
x6
k s ( xs x p )
3
(25)
Due to the rotational motion second J

Mi
Assume the body under a small angle
oscillation
sin
cos 1
J M k3 M b3 M k4 M b4 M ks
J l1k3 ( x5 x3 ) l1b3 ( x5 x3 )
(l l1 )k 4 ( x6 x4 ) (l l1 )b4 ( x6 x4 )
(l1 l2 )k s ( xs x p )
l2
ks
For Passenger mass (mp)
m p xp f ks
CG
l1
x5
k3
b3
xs
l
k4
m p xp ks ( x p xs )
b4
x6
Five 2nd ODE
(26)
Experimental modeling
Observations of the variable of interest
At time tk , x1 = x1(tk) = x1(k)

x2 = x2(tk) = x2(k)
Q0(k), Q1(k), Q2(k)
Initial time
At time tk+1 , x1(k+1) = x1(k) + [Q0(k) Q1(k)] Future

x2(k+1) = x2(k) + [Q1(k) Q2(k)] time
So measure x1(k), x2(k), Q0(k), Q1(k), Q2(k)
Based on series of observation we can estimate and
(27)
2. Transfer Function Representations

2.1. for Mechanical Sensing systems
Laplace domain=S-domain=Laplace transform
u(t)
H (S )
y(t)
H(S)
Laplace fn
O / P Y (S )
I / P U (S )
i .c 0
Properties:
{x(t )} X ( S )
dx(t )
X (0) SX ( S )
SX ( S )
dt
i . c . 0
d 2 x(t )
2
2
S
X
(
S
)
SX
(
0
)
X
(
0
)
S
X (S )
2
dt
i . c . 0
(28)
Example#
x(t)
Find the transfer function

for the system shown in the
figure, where F is the input
and the x is the output
Solution
In t- domain
In S-domain
The physical laws or the governing equation mi ai
mx f spring f damper f external
mx kx bt x F
mS 2 X (S ) kX (S ) bt SX (S ) F (S )
(S 2 m Sbt k ) X (S ) F (S )
X (S )
1
H (S )
2
F ( S ) ( S m Sbt k )
Second
order
system
(29)
x2
Example#
x1
X 2 (S )
Find H ( S )
F (S )
Solution
For mass 1 (m1)
mi ai Fi
In t- domain
m1x1 f k1 f 1 F
m1x1 k1 ( x1 x2 ) 1 x1 F
In S-domain
m1S 2 X1 (S ) k1 X1 (S ) k1 X 2 (S ) 1SX1 (S ) F (S )
F (S ) (m1S 1S k1 ) X1 (S ) k1 X 2 (S )
2
I/P
?
Needs to be a f(x2)
O/P
(30)
x2
x1
For mass 2 (m2)

In t- domain
m2 x2 f k2 f k1 f 2
m2 x2 k2 x2 k1 ( x2 x1 ) 2 x2
mi ai Fi
In S-domain
m2 S 2 X 2 (S ) k2 X 2 (S ) k1 X 2 (S ) k1 X1 (S ) 2 SX 2 (S )
m2 S 2 X 2 (S ) k2 X 2 (S ) k1 X 2 (S ) k1 X1 (S ) 2 SX 2 (S ) 0
Remember: x1 needs to be a f(x2)
(m2 S 2 k2 k1 2 S ) X 2 (S ) k1 X1 (S )
(31)
x2
x1
F (S ) (m1S 2 1S k1 ) X1 (S ) k1 X 2 (S )
I/P
O/P
(m2 S 2 k2 k1 2 S ) X 2 (S ) k1 X1 (S )
(m1S 2 1S k1 ) (m2 S 2 k2 k1 2 S ) X 2 ( S )
F (S )
k1 X 2 ( S )
1
k1
1
2
2
F ( S ) (m1S 1S k1 )(m2 S k2 k1 2 S ) k1 X 2 ( S )
k1
(32)
x2
x1
F
1
X 2 (S )
1
H (S )
F ( S ) (m S 2 S k )(m S 2 k k S ) 1 k
1
1
1
2
2
1
2
1
k1
X 2 (S )
k1
H (S )
F ( S ) (m1S 2 1S k1 )(m2 S 2 k2 k1 2 S ) k12

Fourth order
system
(33)
Electrical system
v1 v2
i0
Element
Resistance
Symbol
Inductance
Capacitance
v2
i0
v0
High
Volt
Current
v iR
di
vL
dt
v
i
R
1 t
i vd
L 0
1 t
v id
c 0
dv
ic
dt
v1
Op Amp
i0
(34)
Electrical system
The governing formulation
Kirchhoff current law (KCL)

Algebraic summation of all currents to a node is equal to zero
i1
i2
i3
i1 i2 i3
i2 i3 i1 0
Kirchhoff voltage law (KVL)

Algebraic summation of all voltages around a loop is equal to zero
v1
5V
v2
5V v1 v2
v1 v2 5V 0
(35)
c1
Example#
Write the deferential
equation for the circuit
shown in the figure.
+
y(t)
O/P
c2
v2
R2
L1
v1
R1
Solution
Current source
u(t)
I/P
- Ve
Step 1: Get the reference node, most probably (the Ground)

Step 2: Specify how many nodes that you have in your circuit,
here is just two nodes (v1 &v2)
Step 3: apply KCL on each node
Note that: No. of equations = No. of Nodes

(36)
c1
+
y(t)
O/P
c2
v2
R2
L1
v1
R1
Current source
u(t)
I/P
- Ve
For Node (v1):
u(t ) I R1 I L1 I R2 I C1
v1 1 t
v1 v2
d
u (t ) v1d
c1 (v1 v2 )
R1 L 0
R2
dt
For Node (v2):
I c1 I R2 I C2
d
v1 v2
d
c1 (v1 v2 )
c2 v2
dt
R2
dt
(37)
Example#
c2
Write the deferential

equation for the circuit
shown in the figure.
R2
Solution
R
+
v1
-
c1
+
y
-
R1
We have two nodes, so we have

two equations
- Ve

Step 2: Specify how many nodes that you have in your circuit,
here is just two nodes (v1 = v2 = v)
(38)
I 5c2
R2
+
v1
-
I3 R
I2
c1 I1
v I0
I4
+
y
-
R1 I 0
For Node (v2 = v): I I I

0
1
2
v
dv
0 c1
R1
dt
For Node (v1 = v):
I3 I 4 I5 I0
- Ve
Op Amp
v1 v2
i0
v1
i0
v2
i0
v0
High
v1 v v y
d
c2 (v y )
R
R2
dt
(39)
2. Transfer Function Representations

2.2. for Electrical Sensing systems
RLC circuit
Element
Resistance
Inductance
Capacitance
Symbol
Impedance Z
LS
If L=2, ZL=2S
1/CS
If c=2, Zc=1/2S
(40)
n1
Example#
Current source
u(t)
Find H ( S )
n2
v1
v2
y(t)
-
Y (S )
for the low pass filter shown in the figure
U (S )
Solution:
Step 2: Specify how many nodes that you have in your circuit, here is
just two nodes (n1) & (n2)
(41)

U(S)
I3
1
Current source
u(t)
n1 I 1
I2 v1
1
I4
v2
y(t)
Step 3: apply KCL on (n1) USING S-DOMAIN
U
( s ) I1 ( S ) I 2 ( S ) I 3 ( S )
current
source
v1 v2 v1 v1
U
(
s
)
ZL
Z R Zc
current
source
Needs to be a f(v2)
I/P
n2
?v v
1
2
O/P
U(S)
ZL
n 1 I1
2S
I3
ZR
v1 ? Sv1
U
(
s
)
2S
1
1
current
Zc
Y (S )
H (S )
U (S )
source
(42)
n1 I 1
I2 v1
1
U(S)
Current source
u(t)
I3
1
n2
I4
v2
y(t)
Node(n2) [as a Voltage divider]
ZR
v2
v1
ZL ZR
2 v
1
2S 1
2
1
v2
v1
4S 1
v2
v1
2S
ZL
v2
1
2
ZR
v1 v2 (4S 1)
(43)
n1 I 1
I2 v1
1
U(S)
I3
1
Current source
u(t)
n2
I4
v2
+
y(t)
-
v1 v2 v1 Sv1
U
( s)

2S
1
1
current
v1 v2 (4S 1)
source
From 2 into 1 we get
U (S )
v2 (4S 1) v2 v2 (4S 1) Sv2 (4S 1)
2S
1
1
(4S 1) 1
U (S )
(4S 1) S (4S 1)v2
2S
v2 y(t )
(44)
(4S 1) 1
U (S )
(4S 1) S (4S 1)Y ( S )
2S
(4S 1) 1 (8S 2 2S ) S (8S 2 2S )

U (S )
Y ( S )
2S
4 S 8S 2 2 S 8S 3 2 S 2
U (S )
Y ( S )
2S
U (S ) (4S 2 5S 3)Y (S )
Y (S )
1
H (S )
2
U ( S ) (4S 5S 3)
(45)
Next Lecture
Ch. 3
STATE VARIABLES AND THE STATE SPACE

DESCRIPTION OF DYNAMIC SYSTEMS
The Concept of State
State Space Representation of Dynamic Systems
Obtaining the State Equations
From Input-Output Differential of Difference
Equations
Simultaneous Differential Equations
Using Simulation Diagrams
Thank you!
(46)

Lect 1 Modern Control Engineering

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Lect 1 Modern Control Engineering

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Verfügbare Formate

Faculty of Engineering and

Modern Control Engineering

Background and Preview

Dr. Amir R. Ali

Modern Control Engineering

II. Course Assessment

Office hours: By appointment

Attendance: 75% of the course must be attended

Modern Control Engineering

III. Course Contents

BACKGROUND AND PREVIEW

STATE VARIABLES AND THE STATE SPACE

Systems, Systems Theory and Control Theory

The Concept of State

Modern Control Engineering

III. Course Contents

EIGENVALUES AND EIGENVECTORS

FUNCTION OF SQUARE MATRICES AND

Definition of the Eigenvalue-Eigenvector Problem

Powers of a Matrix and Matrix Polynomials

ANALYSIS OF CONTINOUS LINEAR STATE

Copyright 2016 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering

Modern Control Engineering

III. Course Contents

CONTROLLABILITY AND OBSERVABILITY FOR

DESIGN OF LINEAR FEEDBACK CONTROL SYSTEMS

Copyright 2016 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering

Modern Control Engineering

At the end of this lecture the student will know

Modern Control Engineering

Procedure of control analysis

Design the linear

Is carried out on the bases of

Copyright 2016 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering

An open-loop control system

The input is no way influenced by the output

Goals Control u(t)

Copyright 2016 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering

Goals Control u(t)

Classical approaches (1930s)

Linear Vs Non-linear system

x(t) = c1x1(t) + c2x2(t)

F(t) = c1F1(t) + c2F2(t)

Copyright 2016 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering

Modern Control Engineering

To put the control theory in practice

The model must not be over simplified Do not model

Modern Control Engineering

Copyright 2016 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering

Modern Control Engineering

Copyright 2016 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering

Modern Control Engineering

Goals Control u(t)

Modern Control Engineering

(Part 3 of 3) Mathematical Representation

Note that: No. of equations = No. of

Negative sign (-ve)

FD=btx=(damping coefficient )(velocity)

Negative sign (-ve)

Fext=F (Forced) or 0 (Free)

Positive sign (+ve)

Copyright 2016 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering

Modern Control Engineering

(Part 3 of 3) Mathematical Representation