Control and Automation
Week 2: Dynamic Systems
Dr Morteza Mohammadzaheri
[Link]@[Link]
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Reminder-What we cover?
21 lectures in the course
1. Introduction to Control and Automation- 1 session
2. Lectures on system dynamics and continuous control – 14 sessions
3. Theory of Measurement- 1 session
4. PLC Programming including its assessment - 4 sessions
5. Midterm- 1 session
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Reminder- References
• Process Control: Modeling, Design, and Simulation (International Series in the
Physical and Chemical Engineering Sciences) 2nd Edition, by B. Bequette, 2023.
• Norman S. Nise, Control Systems Engineering, 7th edition Global Edition, Wiley,
2017
• Lecture Notes
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Reminder-Assessment
assessment share
Midterm 15% All topics covered by midterm date
excluding software skills
Final 50% All topics excluding software skills
MATLAB 5% MATLAB for control
Exam
PLC Exam 20% With your computers in the class
Quizzes 10% Excursion Session are mostly Quiz
Session
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Reminder- Fundamentals of Control and Automation
Automation: Minimising human inputs in operation of systems
How?
Control: To cause systems to behave in the desired manner, normally
without direct human involvement (needs algorithm and hardware)
Behaviour: Outputs of a system.
What?
Output: Variables of interest
e.g. temperature in heat treatment, cutting tool speed in machining
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Reminder-Fundamentals of Control and Automation
Desired behaviour (output): Reference or setpoint (if it is fixed)
How to reach/maintain?
Control Input(s): Variables (or manipulating variables) which
affect outputs and can be changed/defined
e.g. input electric power in heat treatment or current to the
motor in machining
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Reminder-Fundamentals of Control and Automation
Types of Control
Sequential Control, the control system executes a predefined sequence of
operations based on specific conditions or events, i.e. mostly IF THEN rules
Continuous Control, the control system pushes system output(s) to
its(their) desired values in real-time through continuous change of input
(manipulating) variables
A Sequential Control may include Continuous Control systems as its
elements , e.g. run a motor is a speed motor control task
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Reminder-Continuous Control
Continuous Control: Control in real-time, control input may
change continuously within a range (not only 0 or 1)
A sequential control algorithm is designed merely based on logic
A continuous control algorithm is designed based on
mathematical models or other types of the knowledge about
system’s nature (dynamics)
Open Loop Control System: Only reference is used to determine the value of
control input.
Open Loop
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Reminder-Open Loop and Closed Loop Control Systems
Controller: A device hosting an algorithm which determines the
control command (a signal). The most common sequential
controller is Programmable Logic Controller or PLC.
Actuator: Any device which receives control command(s) and act
accordingly. They often need extra energy in addition to the
energy received from the control command. Examples are
motors, pumps, valves and electric heaters.
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Reminder- Continuous Control Systems
Closed Loop Control System: Both reference and the measured
output are used to determine the value of the control input.
Closed Loop
Control Theory: Determining control input(s) to cause the
output(s) of a system to match the reference(s)
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What is a system? On what basis is defined?
• A group of related elements
• Important variable(s) for you: OUTPUT(S)
• Any variable which influences the OUTPUT(S) and can be changed: INPUT(S)
• Any variable which influences the OUTPUT(S) and cannot be changed:
DISTURBANCE(S)
• Constants(not always) representing the characteristics of the system:
PARAMETER(S)
Lets Start from This Room
• OUTPUT:
• INPUTS:
• DISTURBANCES:
• PARAMETERS:
Types of Systems : Dynamic or Static
Dynamic System: The output(s) are(is) influenced by its(their) previous
values
Static: Memory-less
Natural Systems are normally Dynamic. In Control we mostly deal with
Dynamic Systems
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Types of Systems and Solution
• Time-Variant or Time-Invariant?
Parameters change with time. Adaptive Control for Time-Variant Systems.
Control algorithm is adapted during operation
• Certain or Uncertain?
Parameters value is not exactly known. Robust Control for Uncertain
Systems. Control algorithm suits the system even if it changes, to a certain
extent.
• With Disturbance or Without Disturbance?
A type of Robust Control tackles Disturbance
Types of Systems and Solution 2
• Linear or Nonlinear?
Linear system can be presented with a linear differential equations (e.g.
Bernouli and Euler Equations and First Principle of Thermodynamics)
Recommendation: Please review Differential Equations (specially
Laplace Transform) if you have studied it
• Single Input/ Output or Multiple?
SISO, SIMO,MISO and MIMO
State Vector Control and Multivariable Control for MIMO systems
What we study?
• TIME INVARIANT
• CERTAIN
• LINEAR
• NO DISTURBANCE
• SISO
LTI, Linear Time Invariant
Any Questions?
Thank you
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