||ECEN 4138 (3). Control Systems Analysis.
Analysis and design of continuous time control systems using classical
and state space methods. Laplace transforms, transfer functions and
block diagrams. Stability, dynamic response, and steady-state analysis.
Analysis and design of control systems using root locus and frequency
response methods. Computer aided design and analysis.
Credits and Design
||3 credit hours. Selected elective course.
Restricted to juniors/seniors.
||John Hauser, Jason Marden, David Meyer, Lucy Pao.
||Gene F. Franklin, J. David Powell, Abbas Emami-Naeini,
Feedback Control of Dynamic Systems, 6th Edition, Pearson, 2010,
For students to:
- Understand how to create and use mathematical models of physical
systems and how to translate system specifications into such
- Understand the benefits of feedback for control systems, such
as stabilization, robustness, and disturbance rejection.
- Know the tools available for design, analysis, and simulation
of control systems.
After taking this course students will be able to recognize and use
the following concepts, ideas, and/or tools:
- Modeling of physical systems,
including mechanical, electrical, electromechanical,
thermal, and fluidic systems using differential equations,
s-domain characterizations, and block diagrams.
- Properties of linear feedback systems,
including stability, sensitivity, achievability, and fundamental
disturbance rejection limits.
- Transient and steady-state analysis/design
of feedback, including basic feedback strategies such as P, PI,
lead, and lag compensators, root locus, Routh array, gain and phase
margin, achievable I/O maps, state feedback, and LQR/LQG.
- What is control? History and examples, plants, controllers, and block diagrams
- Why use feedback? Basic ideas
- Review: ODE's, convolution, impulse response, Laplace transform, and transfer
- Modeling, Newton’s laws, Lagrange formulation, Differential and s-domain models
of mechanical, electrical, electromechanical, thermal, and fluidic systems
- Dynamic models and dynamic response in terms of s-domain specifications
- Block diagram manipulation and simplification
- Basic feedback loop and important closed-loop maps including sensitivity and
- Poles, zeroes and associated time responses, damping ratios, internal and
external stability, final value theorem
- Simple feedback types (P,P,D,PI,PD,PID) and their rule of thumb effects
- Routh stability criterion
- Root locus analysis and design
- Steady-state response, bandwidth, tracking and system type, interplay between
bandwidth and rise time
- Lead, lag and lead/lag design
- Nyquist theorem, gain and phase margins.
- Achievable I/O maps and interpolation conditions, design for desired closed-loop maps.
- Small gain condition and stability robustness, interconnection structure, loop margins
and relation to gain/phase margins
- Phase-variables for ODE's, state-space quadruples, transfer function from
- State feedback and pole placement
- Observers and observer based controllers
Last revised: 05-20-11, PM, ARP.