Control Theory and Design

Harrier Jet

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Course Description

The course deals with introduction to design of feedback control systems, properties and advantages of feedback systems, time-domain and frequency-domain performance measures, stability and degree of stability. It also covers root locus method, nyquist criterion, frequency-domain design, and state space methods.
Prerequisites: ENGR 012 or permission of the instructor. MATH 27 or 28 is strongly recommended.

Instructor

M. Ani Hsieh
Hicks 305
610-328-8081
E-mail
Office Hours: Mon 4:30pm-5:30pm, Tues 1:30pm - 4pm, and Thurs 2-3pm

Main Text

Control Systems Engineering
by Norman S. Nise
ISBN:978-0-471-79475-2

Supplemental Texts

Fundamentals of Linear State Space Systems
by John S. Bay
ISBN-10: 0256246394
ISBN-13: 978-0256246391

Time and Location

Hicks 310 NOTE THE CHANGE IN LOCATION
Tuesdays, Thursdays 8:30am-9:45am
Labs: Self-schedule

Grading Policy

There will be weekly assignments, bi-weekly labs, a final project, two exams during the semester and no final exams. Homework will be assigned every Tuesday and will be due the following Tuesday at the beginning of class. Labs will be due at 11:59 pm EST the day before the start of the next lab. All lab and project reports must be submitted electronically in PDF format. Your file size should be no more than 3MBs. Submissions that do not conform to these guidelines will be automatically rejected with no notification. Late assignments will not be accepted.
Grading will approximately follow the breakdown listed below:

Homeworks: 15%
Labs/Project: 30%
Participation: 5%
Exams: 50%

Tentative Schedule

Week Days Topics Reading Notes
1 1/22
1/24
  • Introduction
  • Laplace Transforms
  • Transfer Functions
  • State-Space Representation
  • Linearization
Ch. 1.4-1.6
Ch 2 - 3.4

Lecture 1
Lecture 2

2 1/29
1/31
  • State-Space to/from Laplace Transforms
  • Block Diagrams
  • Signal-Flow Graphs
  • Mason's Rule
  • Similariy Transformations
Ch 3.5 - 3.7 Ch. 5 except 5.3

Lecture 3
Lecture 4

3 2/5
2/7
  • Poles, Zeros, and System Response
  • First & Second Order Systems
  • Solutions of State Equations
  • Feedback Systems
Ch. 4 Lecture 5
Lecture 6
4 2/12
2/14
  • Stability
  • Routh-Hurwitz
  • Steady-State Errors
Ch. 6 - 7 Lecture 7
Lecture 8
5 2/19
2/21
  • Root Locus Techniques
Ch. 8 Lecture 9
Lecture 10
findpole.m
6 2/26
2/28
  • Design via Root Locus
Ch. 9 (except Lead & Lag Compensators) Lecture 11
Lecture 12
7 3/4
3/6
  • Review
  • Exam 1
Lecture 13
midterm solutions for P1-2
8 Spring Break
9 3/18
3/20
  • Midterm Review
  • Summary of key concepts
Ch. 4-9 Lecture 16
10 3/25
3/27
  • Frequency Response
  • Bode Plots
  • Nyquist Criterion
Ch. 10.1-10.6 Lecture 18
11 4/1
4/3
  • Frequency Response Design
  • Lead-Lag Compensation
  • PID via Bode Plots
Ch. 11 Lecture 19
Lecture 20
12 4/8
4/10
  • Introduction to Digital Systems
  • Stability of Digital Systems
Ch. 13.1-13.6 Lecture 21
Lecture 22
13 4/15
4/17
  • Digital Systems Cont'd
    • Steady-State Errors
    • Design of Digital Systems
Ch. 13.7-13.10 Lecture 23
14 4/22
4/24
  • Controllability & Observability
  • Intro to State-Space Design
  • Guest Lecture
Ch. 12.1-12.6 Lecture 25
15 4/9
5/1
  • Review
  • Exam 2
TBD Lecture 27
MatlabExample
16 No Final Exam


Weekly Assignments

Week Days Homework Lab
1 1/22
1/24		 Homework 1:Ch 2. Probs 1, 10, 62, Experiment 2.1 pg. 106, Ch 3. Probs 2, Find the state-space representation for the system shown in Figure P2.28.
Due: 1/29 Solutions part 1, part 2 		No Lab
2 1/29
1/31		 Homework 2: Ch3-P21,24 Ch5-P10,24,25,27,43
Due: 2/5 Soln 2 		Lab 1
Due: 2/12 @ 11:59pm EST
3 2/5
2/7		 Homework 3:Ch4-P8,25,30,39,45,66
Due: 2/12 Soln 3 		Lab 1 continued
4 2/12
2/14		 Homework 4:Ch6-P11, 33, 58, 66 Ch7-P18,50
Due: 2/19 Soln 4 		Lab 2
Due: 2/26 @ 11:59pm EST
5 2/19
2/21		 Homework 5: Ch8-P1,13,23,32,51,65
Due: 2/26 Soln 5 		Lab 2 continued
6 2/26
2/28		 Homework 6: Ch9-P7,13,26,30,38,50
Due: 3/4 Due: 2/26 Soln 6 		Lab 3
Due: 3/18 @ 11:59pm EST
7 3/4
3/6		 No Homework Lab 3 continued
8 Spring Break
9 3/18
3/20		 Homework 7: Ch4-44,Ch6-50,Ch8-48,Ch9-45 (No optional problems this week.)
Due: 3/25 Soln 7 		Lab 4
Due: 4/8 @ 11:59pm EST
10 3/25
3/27		 Homework 8: Ch10-1*,2*,4,5,8,9*,10,12,13* (Optional problems are denoted by *)
Due: 4/1 Soln 8 		Lab 4 continued
11 4/1
4/3		 Homework 9: Ch10-15*,20*,Ch11-1*,3*,5,6*,8,13,15*,19,21,24*,28
Due: 4/8 Soln 9 		Selection of Final Project Topic
Due: 4/8 @ 11:59pm EST
12 4/8
4/10		 Homework 10: Ch13-1*,2*,3,4*,5,6*,7*,8*,9,10,11*,12,14
Due: 4/15 Soln 10 		Final Project
Due: 5/8 @ 11:59pm EST
13 4/15
4/17		 Homework 11: Ch13-15*,17*,20*,21,22*,23*,24,25,28,30*,32a-d,36
Due: 4/22 Soln 11 		Final Project
Due: 5/8 @ 11:59pm EST
14 4/22
4/24		 Homework 12: Ch13-27*,35,36a-b,Ch12-1(i)-(iii)*, 1(iv)-(v), 2*, 3, 4, 5 (extra credit), 6*, 7
Due: 4/29 Soln 12 		Final Project
Due: 5/8 @ 11:59pm EST


Projects

Below I list some practical and theoretical project ideas.

  • Fuzzy logic for control.
  • Implement controller with programmable logic.
  • Optimal control of the cart and inverted pendulum problem.
  • Digital control the cart and inverted pendulum problem.
  • DSP processors, and their use in control systems.
  • Control of non-linear systems.
  • Adaptive control.
  • Control of a robotic arm (requires linear algebra).
  • Derive Mason's gain formula.
  • Derive the Routh-Hurwitz criterion.

Useful Links

Control Tutorials for Matlab, University of Michigan.

Principles of Automatic Control from MIT Open Courseware

For LaTex Resources, please follow the link to Prof. Hsieh's Mobile Robotics Course and click on the Links Tab.

PDF Creator

Other

Welcome to the Feedback Universe, Forbes magazine article. October 2002.
For Spy in the Sky, New Eyes, New York Times, June 2001