EE371 Control Systems
Textbooks: Feedback Control Systems, 4th ed.; by Phillips & Harbor, Prentice Hall, 1999.
Computational Aids in Control Systems using MATLAB, Hadi Saadat, McGrawHill 1993
Instructor: Hadi Saadat
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Catalog Data
The student is introduced to the fundamentals of automatic control systems including the analysis and design of control systems for various engineering applications. Topics include modeling of physical systems using both transfer function and state space models. System responses, performance and design criteria. Control system characteristics, stability, sensitivity, steady state errors and transient response. Stability analyses using RouthHurwitz, Rootlocus, Nyquist, and Bode methods. Lead and lag compensators and PID controllers design using rootlocus method. Frequencyresponse analysis. MATLAB and SIMULINK are used to aid in the analysis and design of control systems. The laboratory work is designed to introduce the student to modern techniques needed for the design and implementation of automatic control systems.
Course objectives

Write and solve KCL and KVL equations, and utilize voltage and current dividers in DC circuit analysis.

Describe the operation of the various passive circuit elements.

Obtain a dynamic model of physical systems, including electrical, mechanical and electromechanical systems

Simplify the control system block diagram

Develop the statespace models, and solve the linear state equations

Know the timedomain response of a system, and obtain the timedomain performance specifications. Be able to use MATLAB and SIMULINK for digital simulation

Determine the effect of feedback on the sensitivity of the system to parameter variation and disturbances in the system

Determine the steadystate error in a system for typical inputs

Determine the system stability using RouthHurwitz array, and be able to obtain the rootlocus for typical openloop transfer functions and determine the closed loop control system stability

Know various firstorder controllers

Design closedloop control systems by rootlocus technique, including graphical methods, analytical design using

MATLAB and simulation using SIMULINK

Design and implementation of typical bench mark control systems in the realtime control system laboratory

Utilize operational amplifiers and resistorcapacitor networks to realize the firstorder controllers

Know the frequency response analysis, including Bode diagrams, polar plots, and the Nyquist stability criterion

Determine relative stability of a closedloop system using the Nyquist criterion. Obtain frequency domain performance specifications including gain margin and phase margin

Know the gain compensation using frequencyresponse method, and have an intuitive knowledge of compensation techniques in the frequency domain :
Course Schedule
Week

Day

Topics

Ch.

1 
1 
Introduction: Open loop and closedloop control systems; examples of modern control systems, Types of feedback control systems. 
1 

2 
Transfer function; electrical circuits modeling, block diagram representation 
2 

3 
Block diagram reduction. 
2 
2 
1 
Signal flow graph, Mason’s gain formula 
2 

2 
Mechanical translational systems modeling and electric circuit analogy. 
2 

3 
Mechanical rotational systems modeling, modeling of electro mechanical systems (example of a DC machine modeling) 
2 
3 
1 
Gears, sensors, 
2 

2 
Timedomain response. 
4 

3 
Timedomain specifications. 
4 
4 
1 
Solution of state equation. 
3 

2 
Solution of state equation continued, Review. 
3 

3 
Test #1 

5 
1 
Control System Characteristics: Effect of feedback on stability, sensitivity of control systems to parameter variations, disturbance signals in a feedback control system. 
5 

2 
Steadystate errors, error constants and types of openloop plant. 
5 

3 
Good Friday 

6 
1 
Steadystate and transient response, Effects of adding poles and zeros to transfer function 
5 

2 
Stability Analysis: The RouthHurwitz stability criterion. 
6 

3 
Rootlocus Design and Analysis: Rootlocus concept and techniques. 
7 
7 
1 
Rootlocus continued. 
7 

2 
Rootlocus continued, examples. 
7 

3 
Rootlocus design; phaselead, phase lag, and leadlag controllers. 
7 
8 
1 
PID design; examples of design specification using rootlocus. 
7 

2 
Rootlocus design continued. 
7 

3 
Test #2. 

9 
1 
FrequencyResponse Analysis: Polar plot, Bode diagrams. 
8 

2 
Examples of drawing Bode diagrams using MATLAB. 
8 

3 
The Nyquist criterion. 
8 
10 
1 
Application of the Nyquist criterion as applied to plants with minimum phase transfer functions. 
8 

2 
Determination of gain margin and phase margin from polar plot and Bode diagram. Frequencyresponse design: gain compensation. 
8 

3 
Closedloop frequency response, bandwidth and resonant frequency. 
8 
11 

Final Examination. 

Laboratory
Week 
Topics 
1 
Introduction to Data Acquisition and RealTime Control 
2 
Op amp A/D – D/A converters and Compensator Emulation 
3 
State variable modeling and introduction to MATLAB Control System Toolbox 
4 
Digital simulation: Case studies 
5 
Position Control Design Project (Position and Rate Feedbacks) 
6 
Speed control Design Project (Velocity Feedbacks) 
7 
Position Control Design project (PD Controller Design) 
8 
Position Control Design project (Phaselead Controller Design) 
9 
Ball and Beam project 
10 
Review and tutorial session 
Course Policy and Examinations
Two, 1hour examination will be given during the course of the term at dates shown below. A twohour, comprehensive final examination will be given during final exam week.
Problem Assignments:
Students are required to solve all the assigned problems. You are expected to keep a neat record for the solution of these assignments
Design Projects:
The assigned design projects will be graded and will be considered in the evaluation of the course grade.
Exam. Schedule and Grading:
The course grade will be based on the following:
Test 1 
Section 4: Thursday, April 1 
20% 
Section 2: Friday, April 2 
Test 2 
Section 4: Thursday, April 29 
20% 
Section 2: Friday, April 30 
Final 
Section 4: Wednesday, May, 19, (2:004:00PM) 
30% 
Section 2: Tuesday May 18, (8:0010:00AM) 
Homework 
10% 
Lab 
20% 
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