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ECEN 4138 - Control Systems Analysis

Catalog Data 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.
Prerequisite(s) ECEN 3300, Linear Systems
Restricted to juniors/seniors.
Corequisite(s) None.
Instructor(s) John Hauser, Jason Marden, David Meyer, Lucy Pao.
Textbook Gene F. Franklin, J. David Powell, Abbas Emami-Naeini, Feedback Control of Dynamic Systems, 6th Edition, Pearson, 2010, ISBN-13 978-0-13-601969-5.
Course Objectives For students to:
  1. Understand how to create and use mathematical models of physical systems and how to translate system specifications into such models.
  2. Understand the benefits of feedback for control systems, such as stabilization, robustness, and disturbance rejection.
  3. Know the tools available for design, analysis, and simulation of control systems.
Learning Outcomes After taking this course students will be able to recognize and use the following concepts, ideas, and/or tools:
  1. Modeling of physical systems, including mechanical, electrical, electromechanical, thermal, and fluidic systems using differential equations, s-domain characterizations, and block diagrams.
  2. Properties of linear feedback systems, including stability, sensitivity, achievability, and fundamental disturbance rejection limits.
  3. 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.
Student Outcomes
3a 3b 3c 3d 3e 3f 3g1 3g2 3h 3i 3j 3k
Design Teams Engr
Oral Written Engr Solns
H   M   L             M
Topics Covered
  1. What is control? History and examples, plants, controllers, and block diagrams
  2. Why use feedback? Basic ideas
  3. Review: ODE's, convolution, impulse response, Laplace transform, and transfer functions
  4. Modeling, Newton’s laws, Lagrange formulation, Differential and s-domain models of mechanical, electrical, electromechanical, thermal, and fluidic systems
  5. Dynamic models and dynamic response in terms of s-domain specifications
  6. Block diagram manipulation and simplification
  7. Basic feedback loop and important closed-loop maps including sensitivity and complementary sensitivity
  8. Poles, zeroes and associated time responses, damping ratios, internal and external stability, final value theorem
  9. Simple feedback types (P,P,D,PI,PD,PID) and their rule of thumb effects
  10. Routh stability criterion
  11. Root locus analysis and design
  12. Steady-state response, bandwidth, tracking and system type, interplay between bandwidth and rise time
  13. Lead, lag and lead/lag design
  14. Nyquist theorem, gain and phase margins.
  15. Achievable I/O maps and interpolation conditions, design for desired closed-loop maps.
  16. Small gain condition and stability robustness, interconnection structure, loop margins and relation to gain/phase margins
  17. Phase-variables for ODE's, state-space quadruples, transfer function from state-space representation
  18. State feedback and pole placement
  19. Observers and observer based controllers
  20. Sensitivity

Last revised: 05-20-11, PM, ARP.