MANE 4050 Modeling and Control of Dynamic Systems

Spring 2015
Place and time: Lectures:

Ricketts 203
Monday/Thursday 10:00 - 11:50 AM

Laboratory:

Section 1: Wednesday
Section 2: Wednesday
Section 3: Wednesday
Section 4: Wednesday
Section 5: Wednesday

12:00 - 1:50 PM, JEC 4304

2:00 - 3:50 PM, JEC 4304
4:00 - 5:50 PM, JEC 4304
6:00 - 7:50 PM, JEC 4304
10:00AM - 12 PM, JEC 4304

Course Description:
This course focuses on modeling of dynamic systems and design of controllers that process
sensor measurements and cause a single-input and single-output dynamic system to meet
tracking accuracy and disturbance rejection specifications. Topics include lumped parameter
modeling review and system specs, Laplace transform, block diagram reduction, root locus,
frequency responses, steady state errors, stability analysis and design of compensators.
Laboratory topics include first and second order system modeling and step responses for a
motion control system, PD and PID controller design and tuning.
Pre-requisites/Co-requisites: Co-requisite: MATH 2400, PHYS 1200
Credit Hours: 4
Text Book: Control Systems Engineering, 6th ed. by Norman S. Nise, published by Wiley.
Instructor:

Joshua Hurst
Office: JEC 2020
E-mail: hurstj2@rpi.edu

Office Hours:

JEC 2020
Tuesday and Friday 8:30 am -10 am

TAs:

Jubiao Jack Yang

Fan Zhang
Kartik Josyula

Office hours:

Monday
Tuesday
Wednesday
Thursday
Friday

4-6
4-6
4-6
4-6

Email: yangj9@rpi.edu
Email: zhangf4@rpi.edu
Email: josyuk@rpi.edu
JEC 4304
JEC 4304
JEC 4304
JEC 4304
JEC 4304

All TA office hours are held in JEC 4304 and double as open-lab hours.
Course Lectures are tentative Always check latest syllabus on LMS throughout course

Course Lecture Schedule (tentative)

Week Date Lec. Topic
1/26
1 Introduction to Course, Modeling of Mechanical Components
1
1/29
2 Modeling of Mechanical Systems

3
4
5
6
7
8
9
10
11
12
13
14
15

2/2
2/5
2/9
2/12
2/16
9/19
2/23
2/26
3/2
3/5
3/9
3/12
3/16
3/19
3/23
3/26
3/30
4/2
4/6
4/9
4/13
4/16
4/20
4/23
4/27
4/30
5/4
5/7

3 Laplace Transform
4 Modeling of Electrical Systems
5 Electro Mechanical Systems, Linearization, State Space Intro
6 HW 1 due, Poles, Zeros, 1st Order System Response, Specifications
no class - presidents day
7 2nd Order System-Response, Types of 2nd order systems
8 2nd order System Specifications, Additional Poles, Zeros.
9 HW2 due, Block Diagrams, Reduction, Analysis & Design
Quiz 1
10 Stability, Routh-Hurwitz
11 Root Locus
12 HW3 due,Transient Resp. Design, Generalized R.L., Positive Feedback
13 Bode Diagrams
14 Bode Diagrams
no class - spring break
no class - spring break
15 HW4 due, Stability Gain and Phase Margins
Quiz 2
16 Steady State Errors
17 Disturbances, Non-Unity Feedback
18 HW5 due, Intro to Compensators, Steady State Error, P.I. and Lag
19 Transient Response, P.D. and Lead Compensation
20 Lead-Lag Compensation
21 Feedback compensation
22 HW6 due, Design Via Frequency Response
Quiz 3
23 Lag Compensation
24 HW 7 Due, Lead, Lead Lag Compensation
5/18-5/22 - Finals week

Section
2.5-2.7
2.5-2.7
2.2
2.4
2.8, 2.11, 3.13.3
4.1-4.3

Lab
No Lab
Lab
Intro

Lab 0A
Lab 0B

4.4-4.6
4.7-4.8
5.1-5.3

Lab 1A
Lab 1B

6.1-6.4
8.1-8.4
8.5-8.9
10.1-10.2
10.2

Lab 2A
Lab 2B
No Lab

10.7

Lab 3A

7.1-7.5
7.5-7.6
9.1-9.2
9.3
9.4
9.5
11.1-11.2

Lab 3B
No Lab
Lab 4A
Lab 4B

11.3
11.4-11.5

Labs: (subject to change)

All lab related information will be covered in the first lab session: INTRODUCTION ALL. All students attend
this lab section. Must Bring Laptops to all labs.
Lab 0: Calculate time constant on QET system.
Lab 1: Motor Modeling: Parameter ID from step response, exponential vs. theoretical time constant
Lab 2: PD Control Design: Simulation and experimental position control how controller parameters affect
transient response parameters
Lab 3: Robustness analysis:
Lab 4: PID Controller Design

Grading:
Graded Homework
3 Quizzes
4 Laboratories
Final examination

10%
35%
20%
35%
_______________

Total 100%
Course Objectives:
This course provides the basic tools for MANE students for modeling dynamic systems and
designing feedback controllers that will process sensor measurements and cause a single-input
and single-output dynamic system to meet tracking accuracy and disturbance rejection
specifications. The key course objectives are:
1. To develop an understanding of lumped parameter modeling and system specifications for
electrical, mechanical, and electromechanical systems.
2. To develop an understanding of Laplace transforms to solve differential equations and
derive transfer functions for systems (such as those described in 1.)
3. To understand the frequency response of a system and its utility in analyzing and designing
systems.
4. To understand the notion of stability of a system and its relevance to design and analysis
of control systems, through tools such as Root Locus and Routh-Hurwitz stability tests.
5. To be able to design feedback compensators for satisfying specifications such as those
described in 2-4.
Student Learning Outcomes:
1.
Be able to model mechanical, electrical, and electromechanical systems
2.
Understand and interpret system specifications, in time and frequency domain
3.
Understand stability and methods of evaluating stability of control systems
4.
Understand the frequency response of a system and application to design and analysis
of frequency responses of systems
5.
Be able to design simple feedback compensators that satisfy given specifications

Course Assessment Measures:

Assessment
Homework
Quiz
Lab Report
Exam

Due Date
biweekly
3 quizzes
4 Labs

Learning Outcome #s
1,2,3,4,5
1,2,3,4,5
1,2,4
1,2,3,4,5

Course Operation: The three quizzes will be in class and the final will be at the scheduled exam
time slot. The quizzes and final will be closed book, however, crib sheet(s) will be allowed. The
crib sheets must be handwritten (no photocopies are permitted), must not contain any solved
problems, and must be turned in with the exam; it will be returned with the graded exam.
Laplace Transform tables (specified by the instructor) are also allowed to the exam. The statute
of limitations for discussing grade changes (on any graded assignment) is within one week of
the time that assignment is returned.
No late assignments are accepted. No Late homework, no late lab reports, no late prelabs.
Class Policies:
Student-teacher relationships are built on trust. For example, students must trust that teachers
made appropriate decisions about the structure and content of the courses they teach, and
teachers must trust that the assignments the students that students turn in are their own. Acts
which violate this trust undermine the educational process. The Rensselaer Handbook of
Student Rights and Responsibilities defines various forms of Academic Dishonesty and you
should make yourself familiar with these. In this class, all assignments that are turned in for
grade must represent the students own work. In cases where help was received, or teamwork
was allowed, a notation on the assignment should indicate your collaboration. Submission of
any assignment that is in violation of this policy will result in the penalty of a grade of zero for
this assignment. If you have any questions concerning this policy before submitting assignment,
please ask the professor for clarification.
All students are expected to be familiar with and abide by the policies and procedures,
including those on academic integrity, contained in the current version of the Rensselaer
Handbook of Student Rights and Responsibilities. Any individual assignments you submit in this
course should be entirely your own work. Copying homework or projects will not be tolerated.
I would, though, encourage you to first do your assignments by yourself and then discuss them
with your classmates. Cheating or plagiarism will result in punitive measures.
Attendance is not required. You will, of course, be responsible for all material covered and
assignments made in the lectures. Also, I would ask that, out of courtesy to both your fellow
students and myself, you make every attempt to arrive to class on time and conduct yourself
professionally in the classroom.
Remarks:

The homework you submit is expected to consist of your own work

although discussions with your classmates and/or instructor are encouraged .
All exams will be considered using the honor system. Please refer to
the Student Handbook for specific University policies and expectations.
Homework assignments (and notes) will be posted on LMS.