Course Number and Title: EE 3151 Control Systems (4 credits)
Lecture Time/Location: 3:00 - 3:50 PM, MWF/MWAH 191
Lab Time/Location: 9:00 - 11:50 AM and 1:00 - 3:50 PM, T/MWAH 141
Office Hours: 1:00 - 3:00 PM, MW
Lab TA: Allan Bekkala;
Office Hours: TBA; email: bekka003@d.umn.edu
Course Text:
R. C. Dorf and R. H. Bishop, Modern Control Systems, 13rd Edition, Pearson, 2017
Educational Goals:
This course is designed to give students the ability to model,
analyze, and design linear feedback control systems. It covers the
basic properties, charateristics and performance of feedback control
systems as well as control system design using both the classical and
the state-space approaches. The use of Matlab and the Control System
Toolbox is required in this course. It provides students an opportunity
to familiarize themselves with the Toolbox and use the software to
analyze and design linear feedback control systems. Newly developed
control lab experiments will also be conducted.
Relationship to EE Program Objectives:
Extends students' understanding of linear systems and signal analysis.
Enhances students' understanding of feedback and stability concepts with
control system analysis and design that implement these concepts.
Prepares students for more advanced courses such as EE 5151 "Digital
Control System Design" by explaining basic properties, performance, and
characteristics of control systems, as well as various analysis methods.
Exposes students to the state-of-art Matlab software and the Control
System Toolbox, and also provides students hands-on lab experience by
working on the control equipment to enhance learning of control systems.
Course Outcomes:
The course meets the ABET Student Outcomes (a), (c), (e), and (k).
Prerequisites: EE 2111 (Linear Systems and Signal Analysis)
References:
- N. S. Nise, Control Systems Engineering, 6th edition, John Wiley &
Sons, MA, 2011
- G. F. Franklin, J. D. Powell, and A. Emami-Naeini, Feedback Control of
Dynamic Systems, 7th edition, Prentice Hall, NJ, 2014
- F. Golnaraghi and B. C. Kuo, Automatic Control Systems, 9th edition, John Wiley & Sons, NJ, 2010
- K. Ogata, Modern Control Engineering, 5th edition, Prentice Hall, NJ, 2010
- M. Gopal, Control Systems: Principles and Design, McGraw-Hill, 2008
- J. J. D'Azzo, C. H. Houpis, and S. N. Sheldon, Linear Control System
Analysis and Design with Matlab, 5th edition, Marcel Dekker, 2003
Lecture Topics and Schedule:
Introduction
- Introduction to Feedback Control Systems (Ch. 1.1-1.11)
- Mathematical Modeling of Dynamic Systems (Ch. 2.5)
- Nonlinearities and Linearization (Ch. 2.3)
- Block Diagrams (Ch. 2.6)
- Signal Flow Graphs (Ch. 2.7)
Control System Characteristics and Performance
- Control System Characteristics: Sensitivity, Transient Response,
Steady-State Error, Disturbance (Ch. 4.1-4.7)
- Transient Response and Time-Domain Specifications (Ch. 5.2, 5.3)
- Effects of Pole-Zero on Dynamic Response (Ch. 5.4-5.5)
- Steady-State Error Analysis (Ch. 5.6)
Stability of Linear Control Systems
- Basic Concept (Ch. 6.1)
- Routh-Hurwitz Stability Criterion (Ch. 6.2, 6.3, 6.5)
Root-Locus Method
- Basic Concept (Ch. 7.2)
- Properties and Construction of the Root Loci (Ch. 7.3)
- Illustrative Examples (Ch. 7.4, 7.8)
- PID Controllers, Ziegler-Nichols Tuning (Ch. 7.6)
Frequency Response Methods
- Frequency Response and Bode Plots (Ch. 8.1-8.6)
- Nyquist Stability Criterion (Ch. 9.2, 9.3)
- Relative Stability: Gain Margin and Phase Margin (Ch. 9.4)
- Closed-Loop Frequency Response (Ch. 9.5, 9.6)
- Control System Design: Lead and Lag Compensation (Ch. 10.2-10.5, 10.7,
10.8)
State-Space Methods
- State-Space Representations (Ch. 3.2-3.5)
- Relation of Transfer Functions to State-Space Representations (Ch. 3.6)
- Dynamic Response of State Equation (Ch. 3.7)
- Controllability and Observability (Ch. 11.2)
- Control System Design Using State Feedback (Ch. 11.3-11.5)
Additional reading:
- Matlab Basics (Appendix A)
- Ch. 2.9, Ch. 3.9, Ch. 4.9, Ch. 5.10, Ch. 6.6, Ch. 7.9,
Ch. 8.7, Ch. 9.10, Ch. 10.13, Ch. 11.10
Grading:
- Homework - 15%
- Lab - 20%
- Test 1 - 20%
- Test 2 - 20%
- Final Exam. - 25%
- Late homework will be penalized 50% per class period.
- No homework and lab reports will be accepted after December 8, 2017.
- The use of Matlab and the Control System Toolbox is required.
- The lab experiments will be conducted in MWAH 141.
- Two in-class tests have been scheduled on October 6 and November 10.
- Any make-up test must be approved ahead of their
regularly scheduled times.
- The Final Exam has been scheduled on December 15 (Friday) from 2:00 PM to 3:55 PM in MWAH 191.
- Individuals who have any disability, either permanent or temporary,
which might affect their ability to perform in this class are encouraged
to inform the instructor at the start of the semester. Adaptation of
methods, materials, or testing may be made as required to provide for
equitable participation.