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MTS-362CONTROL ENGINEERING

Spring 2012Lecture No. 1

Department of Mechatronics Engineering

“INTRODUCTION TO FEEDBACK CONTROL SYSTEMS”

Instructor: Engr. Sadaf Siddiq

Class: BEMTS 6A & 6B

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Course Information

Course Title: Control Engineering (MTS-362)Credit hrs: 04

Lab: Compulsory

Prerequisites For this Course: Modeling & Simulation of Dynamic Systems

This Course is Prerequisite For: Advanced Controls & Simulation Techniques

Instructor: Engr. Sadaf Siddiq

e-mail : sadaf@ mail.au.edu.pk Office: Academic Block B

Web: http://www.au.edu.pk Office hours: Thu & Fri : 3PM – 4PM

Text Book: Charles Phillips & Royce Harbor, “Feed Back Control Systems”, Prentice-Hall, 4th Edition, 2000

Reference Book(s): 1- Katsuhiko Ogata, “Modern Control Engineering”, Prentice-Hall, 4th Edition, 2002. 2- Farid Golnagahi, Benjamin C. Kuo, “Automatic Control Systems” John Wiley & Sons, Inc.,9th Edition, 2009.

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Learning Evaluation

Grading Policy● Quizzes 10%●Assignments 05%●Mid-Term Exam 20%●Lab 20%● Final Exam 45%

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Lecture Plan:

Week Topic

1Basics of control system, open-loop and closed-loop control systems, block diagram terminology and some example of systems

2 Review of mathematical modeling of dynamic Systems

3 Review of Mathematical modeling of mixed Systems

4Revision of some basics of Laplace Transforms, Conversion form electrical to mechanical and mechanical to electrical equivalent systems

5 Block diagram algebra, Signal flow graph, Mason’s Gain formula.

6State variable and its modelling, simulation diagrams, state space equation. Linearization.

7Digital control systems. System responses for unit step, ramp and sinusoidal input for 1st order and 2nd order systems.

8Time response of the 1st order, 2nd order and the higher order systems.

9 Midterm Exam

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Lecture Plan:

Week Topic

10Frequency response of the first and 2nd order systems

11Study the control system characteristics, stability, disturbance, disturbance rejection, steady state accuracy

12 Ruth-Hurwitz stability criteria, and its applications.

13Root locus analysis and design, root locus principles.

14Root locus problem solving and its application to lead and lag compensators.

15 PID design, PI controllers, and its applications.

16 PID controllers, and their applications.

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Mechatronics

Industrial Automation

Sensors and Transducers

Electromechanical Systems

Micro Electro Mechanical Systems (MEMS)

Nano Electro Mechanical Systems (NEMS) : Nano Technology

Robotics

Feedback Controls - Pre Requisite (Required) For Subjects

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Controls

Mechanics

Sensors

Electronics

Software

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Concept of a System

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Terminology

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Open Loop Systems

• Ceiling Fans• Room Heaters• Pumps without level Control

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Open Loop System-Example

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Closed Loop Systems

• Air Conditioners• Water Geysers• Pumps with level control • Toasters• Pressing Iron

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Closed Loop System-Example

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Feedback Control Systems emerged rather recently

● 1600 Drebbel Temperature regulator● 1681 Pressure regulator for steam boilers ● 1765 Polzunov water level float regulator● 1769 James Watt’s Steam Engine and Governor● 1868 James Clerk Maxwell formulates a mathematical model for governor control of a steam engine● 1927 Harold Black discovers and patents the feedback amplifier● 1927 Hendrik Bode analyzes feedback amplifiers● 1932 Nyquist develops methods for analyzing feedback amplifier stability● 1940s Norbert Wiener leads gun positioning effort; feedback control engineering becomes an engineering discipline● 1950s Increased use of Laplace transform, s-plane, root locus● 1960s Sputnik, highly accurate control systems for space vehicles,● robotics, and missiles ● 1980s Routine use of digital computers as control elements● 1990s Feedback control in automobiles, automation, planetary exploration

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Closed loop example: Polzunov’s Water level float regulator

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Closed loop example: James Watt’s flyball governor

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Example: Feedback in everyday life

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RoboticsA robot is a programmable computer integrated with a machine

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Example: Disk Drive

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Example: Automatic Parking Control

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Feedback Control: Benefits and cost

Benefits:

Cost:

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Feedback Control: Benefits and cost

Benefits:

Cost:

• Reduction of sensitivity to process parameters• Disturbance rejection• More precise control of process at lower cost• Performance and robustness not otherwise achievable

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Feedback Control: Benefits and cost

Benefits:

Cost: • More mathematical sophistication• Large loop gain to provide substantial closed loop gain• Stabilizing closed loop system• Achieving proper transient and steady-state response

• Reduction of sensitivity to process parameters• Disturbance rejection• More precise control of process at lower cost• Performance and robustness not otherwise achievable

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Multivariable Control System