| Description
An introduction
to automatic control systems, using classical control methods in the frequency
domain. Classical stability and performance analysis methods include the
root locus as well as the Bode and Nyquist diagrams. Control design will
be introduced based complex plane and frequency performance specifications.
Prerequisites
- understanding
of modeling and dynamic response,
- linear
differential equations,
- Laplace
transform.
Course
Aims
Introduction
to
- Linear
control systems
- Stability
analysis techniques
- Control
system performance
- Feedback
control design
By the end
of the course students should be able to
- interpret
and switch between differential equation and tranfer function system
representations
- relate
the time response to transfer function characteristics
- understand
stability and time domain specifications
- conclude
about stability using a variety of analysis tools
- design
PID controllers and understand the effect of their components
- draw and
interpret root loci, Nyquist and Bode diagrams
- design
feedback controllers in frequency domain.
| Time
& location |
Tuesday/Thursday
1530-1645
Mechanical Engineering Building,
Room ME 208 |
| Instructor |
Bert
Tanner
Mechanical Engineering Bldg, Room 422
Tel: 277-1493
e-mail:  |
| Office
hours |
Wednesdays
1100-1400 |
| Text |
N.S.
Nise, Control Systems Engineering, 4th ed., Wiley,
2004
Further reading:
- B.C.
Kuo, F. Golnaraghi, Automatic Control Systems, Wiley
- J.
Dorcey, Continuous and Discrete Control Systems,
Mc Gray Hill
- G.F.
Franklin, J.D. Powell and A. Emami-Naeini, Feedback Control
of Dynamic Systems, Prentice-Hall
- F.M.
Callier, C.A. Desoer, Linear Systems Theory, Springer
Verlag
|
| Grading
policy |
- 20%
Weekly assignments
-
30% Midterm examination (in class)
-
50% Final examination (in class) - 5/15, 1500-1700
- Grading scale:
| A |
94.00-100 |
B |
84.00-86.99 |
C- |
70.00-73.99 |
| A- |
90.00-93.99 |
B- |
80.00-83.99 |
D+ |
67.00-69.99 |
| B+ |
87.00-89.99 |
C |
74.00-76.99 |
F |
below |
| Overdue
assignments may be accepted after charging (at least)
%20 for each overdue date. |
 |
|
| Tentative
schedule |
|
1/22 |
Course
introduction, signals and systems |
| 1/24 |
Models
of linear systems, the Laplace transform |
| 1/29 |
Partial
fraction expansion |
| 1/31 |
Transfer
functions |
| 2/5 |
Poles,
zeros and time response, first order systems |
| 2/7 |
Second
order systems |
| 2/12 |
Adding
poles and zeros |
| 2/14 |
Block
diagrams |
| 2/19 |
Multiple
inputs |
| 2/21 |
Translating
between block diagrams, transfer functions and ODEs |
| 2/26 |
Introduction
to stability; "bounded-input-bounded-output" |
| 2/28 |
Steady-state
errors and system type |
| 3/4 |
Error
constants |
| 3/6 |
Non-unity
feedback and disturbances, PID tuning |
| 3/11 |
The
root locus |
| 3/13 |
Drawing
the root locus, examples |
| 3/25 |
Midterm
Exam |
| 3/27 |
Refining
the locus: departure/arrival angles and break points |
| 4/1 |
Effect
of adding poles and zeros |
| 4/3 |
Desing
using the root locus: a) steady state error |
| 4/8 |
Desing
using the root locus: b) transient response |
| 4/10 |
Bode
plot |
| 4/15 |
Bode
plots of basic factors |
| 4/17 |
Bode
plots of general transfer functions |
| 4/22 |
The
Nyquist criterion and diagram (on travel) |
| 4/24 |
Stability
analysis based on the Nyquist diagram (on travel) |
| 4/29 |
Gain
and phase margin, bandwidth, error constants |
| 5/1 |
Basic
desing using Bode plots |
| 5/6 |
Lead
compensator design |
| 5/8 |
Lag
compensator design |
| 5/13 |
Examples |
| 5/15 |
Final
exam (on travel) |
|
| Homework |
Homework |
Out |
Due |
|
| 1.13,
1.14 |
|
|
|
| 2.21,
2.39 |
1/31 |
2/7 |
|
| 4.8,
4.17 |
2/7 |
2/14 |
|
| 4.20,
4.23, 2.8 |
2/14 |
2/21 |
|
| 5.8,
5.9 |
2/21 |
2/28 |
|
| 7.3,
7.12 |
2/28 |
3/6 |
|
| notes:
4.9, 4.10 |
3/6 |
3/13 |
|
| 8.1,
8.3 |
3/13 |
3/27 |
|
| 8.42,
8.24 |
3/27 |
4/3 |
|
| 9.19,
9.23 |
4/3 |
4/10 |
|
| 10.4,
10.24 |
4/10 |
4/17 |
|
| 10.5,
10.9 |
4/17 |
4/24 |
|
| 11.8,
11.13 |
4/24 |
5/1 |
|
|
|
|
