3 units. Linear control system representation in time and frequency domains, feedback control system characteristics, performance analysis and stability, design of control.
Grading: Regular grades are awarded for this course: A B C D E.
Usually offered: Fall.
Modern Control Systems, Twelfth Edition, R.C. Dorf and R.H. Bishop, Prentice Hall, Upper Saddle River, NJ, 2011.
Course Learning Outcomes:
By the end of this course, the student will be able to:
- Model, via differential equations or transfer functions, electrical, mechanical, and electromechanical dynamical systems.
- Linearize a set of nonlinear dynamical equations.
- Create a second-order model from a system’s step response.
- Construct all-integrator block diagrams from a transfer function, a set of differential equations, or a state-space representation and vice-versa.
- Compute a state transition matrix from a system matrix.
- Describe in terms of percent overshoot, settling time, steady-state error, rise-time, or peak-time how the poles of a second-order continuous-time system influence the transient response.
- Translate design specifications into allowable dominant pole locations in the s-plane.
- Calculate a system’s steady-state error and how the steady-state error can be influenced via system parameter changes.
- Construct and interpret the Routh Array.
- Determine the stability of a closed-loop system.
- Calculate a system’s sensitivity with respect to different parameters.
- Sketch the root locus associated with a transfer function.
- Design analog controllers using root locus techniques.
- Design an analog PID controller to meet design specifications.
- Calculate the phase margin and gain margin of a system from its frequency response (Bode plots).
- Design analog controllers using Bode plot techniques.
- Design full-state feedback gains to achieve acceptable closed-loop behavior.
- System Modeling (Chapter 2).
- System Descriptions and Manipulation (Chapter 2 and 3).
- Feedback System Characteristics (Chapter 4).
- System Performance (Chapter 5) and Stability (Chapter 6).
- Root Locus Analysis (Chapter 7) and Controller Design (Chapter 10).
- Bode Plot Analysis (Chapter 8) and Controller Design (Chapter 10).
- PID Controller Design (Chapter 12).
- State Feedback Design (Chapter 11).
Three 50-minute lecture sessions per week.
Ten homework problem sets during semester.
Three laboratory design sessions with a mass, spring, damper system.
Three in-class examinations plus a final examination.
Relationship to Student Outcomes:
a) an ability to apply knowledge of mathematics, science, and engineering (High)
b) an ability to design and conduct experiments, as well as to analyze and interpret
c) an ability to design a system, component, or process to meet desired needs within
realistic constraints such as economic, environmental, social, political, ethical,
health and safety, manufacturability, and sustainability (High)
d) an ability to function on multi-disciplinary teams (MEDIUM)
e) an ability to identify, formulate, and solve engineering problems (MEDIUM),
k) an ability to use the techniques, skills, and modern engineering tools necessary
for engineering practice. (High)