Dr.

Waleed Farag Mohammed

systems modeling and
simulation
Dr. Waleed Farag Mohammed
Water level manual control
 What Are Automatic Control
Systems?
A control system:
is an interconnection of components forming a
system configuration that will provide a desired
system response.” [ Dorf p. 2]
-Is An automatic control system is a
combination of components that act together in
such a way that the overall system behaves
automatically in a prespecified desired
 manner.
 The process is the component (or group
of components) to be controlled.
 Control System Terminology
Input - Excitation applied to a control system
from an external source.

Output - The response obtained from a system

Open-Loop: Simple control system which
performs its function with-out concerns for initial
conditions or external inputs.
Must be closely monitored. Or
a Systems in which the output quantity has no
effect upon the process input quantity. (No sense,
measure and compare )

Disturbance: is a signal which has adversely

affect the system performance
 What Are Automatic Control
Systems?
-Reference signal (set point) represents
the desired quantity (Level in this
example)
-sensor : senses the actual quantity.

-Comparator is used to compare reference

and measured signal and produce the
error

-Actuator actuates the control action

Closed loop systems: Systems in which the
output has an effect upon the process input
quantity. comparator is used to compare the
measured signal with the reference one to
produce error.
The process outputs are the variables to
be controlled.

The controller is the component (or group

component ) that controls the process. The
objective of the controller is to make the
actual values of the process output
variables equal to the desired values.
The Controller uses the error signal to
produce the control action
The controller outputs are the variables
that manipulate the process.

The controller inputs include the error of

the desired values of the process output
variables, and the actual values of the
process variables ( feedback ).

The process inputs are the variables that

are manipulated by the controller.
Closed Loop Control
Closed Loop Control
Laplace Transform
 Objective
At the end of the present
lecture the student will be
able to:
-convert the equation in S
domain
-Taking the inverse of Laplace
transform
-Appling the partial fraction
-Solve the linear differential
equation using Laplace 14

transform
TYPES OF FEEDBACK CONTROL SYSTEMS
1-Linear or Nonlinear Control Systems

This classification is made according to the methods of

analysis and design. Strictly speaking, linear systems do
not exist in practice, because all physical systems are
nonlinear to some extent. Linear feedback control
systems are idealized models fabricated by the analyst
purely for the simplicity of analysis and design. When the
magnitudes of signals in a control system are limited to
ranges in which system components exhibit linear
Characteristics.
•• •
m y+ c y+ ky = f (t)
2-Time-Invariant versus Time-Varying Systems

When the parameters of a control system are stationary

with respect to time during the operation of the system,
the system is called a time-invariant system. In practice,
most physical systems contain elements that drift or
vary with time.
•• •
m y+ c y+ ky = f (t)
 3-Continuous Control Systems (analogue) or
Discrete Control Systems (digital)

-A continuous-data system is one in which the signals at

various parts of the system are all functions of the
continuous time variable t.

-Discrete-data systems in which the signals are in the

form of pulse data. A digital control system refers to the
use of a digital computer or controller in the system so
that the signals are digitally coded, such as in binary code.
Laplace Transformation

L[ f (t)] = F (s)
L [F(s)] = f (t)
−1

∞
F(s) = ∫ f (t)e dt
− st
0

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 L

F(t) F(S)
Time Domain S or Laplace Domain

L-1

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 Differential Equation

Figure 1.
Steps Transform differential
involved in equation to
algebraic equation.

using the
Laplace
transform.
Solve equation
by algebra.

Determine
inverse
transform.

Solution
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Figure 10-2. Illustration of the
unit step function.
u(t)

0 t

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Example 1. Derive the Laplace
transform of the unit step
function.
∞
F(s) = ∫ (1)e dt
−st
0

∞
e 
− st
e −0
 1
F (s) =  = 0− = s
−s  0  −s 

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 Table 10-1. Common transform pairs.
f (t) F (s) = L[ f (t)]
1 or u(t) 1 T-1
s
e−αt 1 T-2
s +α
sin ωt ω T-3
s2 + ω 2
cosωt s T-4
s + ω2
2

e−αt sin ωt ω T-5*

(s + α )2 + ω 2
e−αt cosωt s +α T-6*
(s + α )2 + ω 2
t 1 T-7
s2
tn n! T-8
sn+1
e−αt t n n! T-9
(s + α )n+1
δ (t) 1 T-10

*Use when roots are complex. 26

 Laplace Transform Operations
f (t) F (s)
f '(t) sF(s) − f (0) O-1
t
F (s) O-2
∫ 0
f (t)dt
s
e−αt f (t) F (s + α ) O-3

f (0) lim sF (s) O-5

s→∞

lim f (t) lim sF (s)* O-6

t→∞ s→0

*Poles of sF(s) must have negative real parts.

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Example 2. A force in newtons
(N) is given below. Determine
the Laplace transform.
f (t) = 50u(t)

50
F (s) =
s

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 Example 3. A pressure in
pascals (p) starting at t = 0 is
given below. Determine the
Laplace transform.
p(t) = 5cos 2t + 3e −4t

s 1
P(s) = L[ p(t)] = 5 ⋅ 2 + 3⋅
s + (2) 2
s+4
5s 3
= 2 +
s +4 s+4
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Example 4. A voltage in volts
(V) starting at t = 0 is given
below. Determine the Laplace
transform. −2t
v(t) = 5e sin 4t
4
V (s) = L[v(t)] = 5 ⋅
(s + 2) + (4)
2 2

20 20
= 2 = 2
s + 4s + 4 +16 s + 4s + 20
30
 Inverse Laplace Transforms
by Identification
When a differential equation is solved
by Laplace transforms, the solution is
obtained as a function of the variable
s. The inverse transform must be
formed in order to determine the time
response. The simplest forms are
those that can be recognized within
the tables and a few of those will now
be considered.
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Example 5. Determine the
inverse transform of the
function below.
5 12 8
F (s) = + 2 +
s s s+3

f (t) = 5 +12t + 8e
−3t

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Example 10-6. Determine the
inverse transform of the
function below.200
V (s) =
s 2 +100

 10 
V (s) = 20  2 2 
 s + (10) 

v(t) = 20sin10t
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 Example 7. Determine inverse
transform of function below.
Real
s+6 s+6 poles
F (s) = 2 =
s + 3s + 2 (s +1)(s + 2)
s+6 A1 A2
F (s) = = +
(s +1)(s + 2) s +1 s + 2
s + 6 −1+ 6
A1 = (s +1)F (s)] s=−1 = = =5
s + 2 s=−1 −1+ 2
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 Example 7. Continuation.
s + 6 −2 + 6
A2 = (s + 2)F (s)] s=−2 = = = −4
s +1 s=−2 −2 +1

5 4
F (s) = −
s +1 s + 2

f (t) = 5e − 4e −t −2t

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Example 8. Determine inverse transform of function
below.
60 Real and

F (s) = repeated
pole
s(s + 2)2
60 A C1 C2
F (s) = = + +
s(s + 2)2
s (s + 2) (s + 2)
2

60  60
A = sF (s)]s=0 = 2
= = 15
(s + 2)  s=0 (0 + 2)2

60  60
C1 = (s + 2) F (s) 
2
= = = −30
s=−2 
s s=−2 −2
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 Example 8. Continuation.
60 15 30 C2
F (s) = = − +
s(s + 2)2 s (s + 2)2 s + 2
60=15(S+2)2-30S+c2S(S+2)
60=15(S2+4S+4)-30S+c2S(S+2)
60=15S2+60S+60-30S+C2S2+2C2S
60=S2(15+C2)+(60+2C2 )S+60

C2 = −15
60 15 30 15
F (s) = = − −
s(s + 2)2 s (s + 2)2 s + 2
f (t) = 15 − 30te−2t −15e−2t = 15 −15e−2t (1+ 2t) 37
 Significant Operations for
Solving Differential Equations
L[ f '(t)] = sF(s) − f (0)
L[ f "(t)] = s F (s) − sf (0) − f '(0)
2

 t  F (s)
L ∫ f (t)dt =
 0  s
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Example 10-13. Solve DE shown
belodwy .
+ 2 y = 12 y(0) = 10
dt
 dy 
L   + 2L[ y] = L[12]
dt 
12
sY (s) −10 + 2Y (s) =
s
12
(s + 2)Y (s) = 10 +
s
10 12
Y (s) = +
s + 2 s(s + 2)
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Example 10-13. Continuation.
12 A1 A2
= +
s(s + 2) s s + 2
 12  =  12 
A1 = s     =6
 s(s + 2)  s=0 s + 2 s=0
 12  = 12 
A2 = (s + 2)     = −6
 s(s + 2) s=−2  s s=−2
10 6 6 6 4
Y (s) = + − = +
s+2 s s+2 s s+2

y(t) = 6 + 4e−2t 40
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 Summary
The present lecture covered
the basic concept of Laplace,
-Partial fraction concepts, and
the procedure to solve the
linear differential equation
using Laplace transform

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 THANK
YOU

Dr. Waleed Farag Mohammed