EE-371 Control Systems
Textbooks: Feedback Control Systems, 4th ed.; by Phillips & Harbor, Prentice Hall, 1999.
Computational Aids in Control Systems using MATLAB, Hadi Saadat, McGraw-Hill 1993
Instructor: Dr. Hadi Saadat
| Catalog Data - Course objectives |
| Course Schedule |
| Laboratory Schedule |
| Course Policy and Examinations |
Control Systems Instructional Laboratory |
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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 Routh-Hurwitz, Root-locus, Nyquist, and Bode methods. Lead and lag compensators and PID controllers design using root-locus method. Frequency-response 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.
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Write and solve KCL and KVL equations, and utilize voltage and current dividers in DC circuit analysis.
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Describe the operation of the various passive circuit elements.
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Obtain a dynamic model of physical systems, including electrical, mechanical and electromechanical systems
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Simplify the control system block diagram
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Develop the state-space models, and solve the linear state equations
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Know the time-domain response of a system, and obtain the time-domain performance specifications. Be able to use MATLAB and SIMULINK for digital simulation
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Determine the effect of feedback on the sensitivity of the system to parameter variation and disturbances in the system
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Determine the steady-state error in a system for typical inputs
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Determine the system stability using Routh-Hurwitz array, and be able to obtain the root-locus for typical open-loop transfer functions and determine the closed loop control system stability
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Know various first-order controllers
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Design closed-loop control systems by root-locus technique, including graphical methods, analytical design using
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MATLAB and simulation using SIMULINK
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Design and implementation of typical bench mark control systems in the real-time control system laboratory
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Utilize operational amplifiers and resistor-capacitor networks to realize the first-order controllers
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Know the frequency response analysis, including Bode diagrams, polar plots, and the Nyquist stability criterion
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Determine relative stability of a closed-loop system using the Nyquist criterion. Obtain frequency domain performance specifications including gain margin and phase margin
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Know the gain compensation using frequency-response method, and have an intuitive knowledge of compensation techniques in the frequency domain:
Week |
Day |
Topics |
Ch. |
1 |
1 |
Introduction: Open loop and closed-loop 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 |
Time-domain response. |
4 |
|
3 |
Time-domain 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 |
Steady-state errors, error constants and types of open-loop plant. |
5 |
|
3 |
Good Friday |
|
| 6 | 1 | Steady-state and transient response, Effects of adding poles and zeros to transfer function |
5 |
|
2 |
Stability Analysis: The Routh-Hurwitz stability criterion. |
6 |
|
3 |
Root-locus Design and Analysis: Root-locus concept and techniques. |
7 |
7 |
1 |
Root-locus continued. |
7 |
|
2 |
Root-locus continued, examples. |
7 |
|
3 |
Root-locus design; phase-lead, phase lag, and lead-lag controllers. |
7 |
8 |
1 |
PID design; examples of design specification using root-locus. |
7 |
|
2 |
Root-locus design continued. |
7 |
|
3 |
Test #2. |
|
9 |
1 |
Frequency-Response 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. Frequency-response design: gain compensation. |
8 |
|
3 |
Closed-loop frequency response, bandwidth and resonant frequency. |
8 |
11 |
|
Final Examination. |
|
Week |
Topics |
1 |
Introduction to Data Acquisition and Real-Time 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 (Phase-lead Controller Design) |
9 |
Ball and Beam project |
10 |
Review and tutorial session |
Course Policy and Examinations
Two, 1-hour examination will be given during the course of the term at dates shown below. A two-hour, 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, (2-4:00 PM) |
30% |
Section 2: Tuesday May 18, (8-10:00 AM) |
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Homework |
10% | |
Lab |
20% | |