EEE 101 Control Systems Theory

Course description : Classical concepts of continuous-time feedback system modeling, analysis and compensation techniques. Stability of feedback systems using root-locus, Bode diagrams and Nyquist plots. Introduction to computer-aided design tools for control systems. Prerequisite : EE 35 Course objectives : At the end of this course, the student should be able : To construct a mathematical model, block diagram and signal flow graph for a physical lumped parameter system. To derive a linear time-invariant mathematical model from a mathematical model. To perform stability and sensitivity analysis on systems, design cascade and feedforward compensators to meet transient and frequency response specifications. To use computer-aided control tools to verify root locus, transient and frequency response characteristics of a system. Text : Dorf and Bishop. Modern Control Systems, 8th edition. Addison-Wesley. References : B.C. Kuo. Automatic Control Systems, 5th edition. D'Azzo and Houpis. Linear Control System Analysis and Design : Conventional and Modern, 3rd edition. R.C. Dorf. Modern Control Systems, 6th edition. Shahian and Rasul. Control System Design Using Matlab. Grading : 3 long exams 80 % Homeworks and quizzes 20 % Grading scale : 92 - 100 88 - < 92 84 - < 88 80 - < 84 76 - < 80 72 - < 76 68 - < 72 64 - < 68 1.0 1.25 1.5 1.75 2.0 2.25 2.5 2.75

60 - < 64 3.0 < 60 5.0 Course outline : I. Class policies A. Class requirements / expectations B. Possible class projects II. Overview A. History B. Use of Feedback C. What is feedback analysis and design D. What are transient response and system type E. Qualitative properties of feedback III. Electronics review and project overview A. Op-amp basics B. Summer, Differentiator, Integrator C. Phase-locked loop basics D. Phase detector E. VCO F. Qualitative PLL analysis G. DC motors H. Speed detection IV. Mathematical models (section 2.2-2.3) A. Electrical circuits B. Mechanical systems C. Thermal systems D. Level Systems E. Block diagrams and signal flow graphs F. Linearization V. Laplace transform review (section 2.4, 5.2-5.6) A. Definition B. Theorems C. Predicting system response D. Final-value theorem E. First and second-order responses F. Higher order responses VI. Open-loop and closed-loop transfer functions (section 2.5-2.11, 4, 5.1, 5.7-5.8) A. Simplifying block diagrams and SFGs B. Mason gain rule C. Transfer functions of linear systems

D. Open-loop and closed-loop poles/zeros E. System specifications F. Open-loop vs. closed-loop behavior for proportional feedback G. Steady-state error and system type First long exam VII. Stability : R-H (section 6.1-6.3, 6.5) A. Definition B. Stability and poles C. R-H test D. Design examples VIII. Root locus basic (section 7.1-7.5) A. Important rules B. Quick sketching C. Interpretation IX. Proportional control design using root locus (section 7.8) X. PD control design using root locus (section 7.11) Second long exam XI. Frequency response review (section 8.1-8.2, 8.4) A. Frequency response of a linear system B. Phasor analysis of resistor, inductor, capacitor C. Phasor analysis of RC lowpass/highpass D. Practical ways to obtain frequency response XII. Frequency response and stability (section 8.2-8.3, 8.7, 8.9) A. Closed-loop from open-loop frequency response B. Gain and phase margins C. Design examples D. Asymptotic Bode plots XIII. Time-domain performance and frequency domain specs (section 8.5, 8.7, 8.9) A. Terms : bandwidth, resonance, DC gain B. First order systems C. Second order systems D. Higher order systems XIV. Nyquist criterion (section 9.1-9.8, 9.11) A. Qualitative proof B. Statement of criterion

C. Examples D. Gain and phase margins XV. Design examples (section 10.4-10.8) A. Lag controller B. PI controller C. Lead controller Third long exam