ELECTRICAL
& COMPUTER ENGINEERING
1. Feedback Control of Dynamic Systems, 2nd edition, Franklin, Powell, Emami- Naeini.
2. Automatic Control Systems, 7th edition, Benjamin Kuo.
The course consists of modeling electrical, mechanical, hydraulic and thermal systems, analysis of linear systems in the time and frequency domains, stability concepts and compensation design in the time and frequency domains. Classical control will be emphasized. The software programs MATLAB and the Controls System Toolbox will be incorporated into the lectures, homework, and tests.
Regular attendance is expected. Unexcused absence for tests or the final exam will receive a grade of zero. Makeup tests are not given. The percentage of an excused missed test is added to the final comprehensive exam percentage. More than one missed test requires dropping the course. Prior consent must be given before the postponement of the final exam. Special arrangements will be made for an excused absence for the final exam.
Homework will be assigned each class period. The items shown below determine the course grade. Borderline grades are determined by the performance on an end of semester take-home exam, percentage of homework completed, class participation and attendance.
4 Tests 75%
Final Exam 25%
Design Project
1. Course memo explanation
2. Control system intro, history, block diagram intro
Modeling, Block Diagrams, Transfer Functions:
3. Block diagrams, system modeling
4. Modeling continued- op-amp example
5. Block diagram algebra
6. Benefits of feedback
7. DC motor analysis
8. DC motor - continued
9. Mechanical systems modeling - gear/motor example, linearization
Control System Performance Characteristics:
10. Test signals (step, ramp, etc.)
11. Steady-state error and system types
12. " " " " " "
13. Second order system response characteristics
At this point the Control System Toolbox will be introduced.
Stability:
14. Stability introduction
15. Routh-Hurwitz stability check
16. Routh design example
Root-Locus Analysis:
17. Quick sketch of root locus for different systems
18. Root locus analysis examples
19. " " " "
20. " " " "
Design in Time Domain:
21. Time domain control specs introduction
22. Root locus design examples: Lag and Lead (homework) compensation
23. Compensation design examples: integral & derivative control
24. More design examples - PID control (Ziegler/Nichols tuning)
25. Second order tendency principle and design example
Frequency Response Analysis:
26. Quick sketching of Bode for different systems (review)
27. Minimum and non-minimum phase systems
28. Time delay, system ID from Bode, relationship between open-loop and
closed-loop frequency responses and time domain behavior.
Design in Frequency Domain:
29. Frequency response control specs
30. Frequency response control relation with time domain
31. Gain compensation design
32. Lead compensation design
33. Lag/Lead, PID compensation design
34. Additional topics: robot arm, phase-locked loop systems. Simulink and an introduction to digital control are also covered.
Note: There are 38 lecture days + 5 additional days for tests.
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