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Feedback Control Systems

Assoc. Prof. Enver Tatlicioglu


Department of Electrical & Electronics Engineering
Izmir Institute of Technology

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Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

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Enver Tatlicioglu
Education & Work experience

B.Sc., Dokuz Eylul University, Electrical & Electronics Engineering,


1999
Ph.D., Clemson University (Clemson, South Carolina, USA),
Electrical & Computer Engineering, 2007
Postdoctoral research associate, Clemson University (Clemson,
South Carolina, USA), Electrical & Computer Engineering, 2007
Assistant Professor, Izmir Institute of Technology, Electrical &
Electronics Engineering, 2008
Associate Professor, Izmir Institute of Technology, Electrical &
Electronics Engineering, 2011

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

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Enver Tatlicioglu
Teaching interests

Undergraduate:
EE331 Signals & Systems (Fall 2012, Fall 2013)
EE362 Feedback Control Systems (Spring 2009, Spring 2010, Spring
2011, Spring 2012, Spring 2013, Spring 2014, Spring 2015)
EE463 Introduction to Robotics (Fall 2009, Fall 2010, Fall 2011, Fall
2014)

Graduate:
EE559 Nonlinear Control Design (Spring 2009, Spring 2010, Spring
2012, Spring 2013, Spring 2014)
EE566 Nonlinear Systems Analysis (Fall 2009)
EE560 Robot Manipulator Control (Fall 2011, Fall 2012)
EE561 Advanced Robot Kinematics (Fall 2013)
ME580 Haptics and Teleoperation (Fall 2014)
EE501 Principles of Mathematical Analysis (Fall 2014)
EE502 Linear System Theory (Spring 2011, Spring 2015)
EE504 Matrix Computation (Fall 2008, Fall 2010)
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Enver Tatlicioglu
Research interests

Control:
Linear and nonlinear control theory
Estimation techniques
Observer design
Robust, Learning, Adaptive, Optimal control of uncertain nonlinear
systems
Partial state feedback and output feedback control techniques

Robotics:
Kinematically redundant and hyper redundant robot manipulators
Robot kinematics, manipulation, real time control
Human-robot interaction (haptic systems and teleoperation)
Dynamic modelling of extensible continuum robot manipulators

Mechatronics:
Nonlinear control techniques for mechatronic systems
Dynamic modeling and dynamic simulation of mechatronic systems
Design and development of control laboratory equipments
Extremum seeking control of renewable energy systems
Vision systems
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Enver Tatlicioglu
Research interests

Associate Editor, International Journal of Robotics & Automation


2.5 journal publications per year
4.5 international conference publications per year
2 national conference publications per year
Attracted +300 citations
Advised 1 Ph.D. and 3 M.Sc. students
Currently advising 3 Ph.D. and 3 M.Sc. students

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

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Feedback control systems


Course foundations:
Differential Equations,
Circuit Analysis 1 and 2,
Signals and Systems.
Previous exposure to the following will be required/helpful:
LTI systems and their properties,
Differential equations,
Laplace transforms,
Matlab/Simulink.
Course focuses on analysis of continuoustime dynamic systems and
design of feedback controllers.
Developing analysis skills is of primary importance.
Introduction of specialized applications is secondary.
Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

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Course contents

Mathematical modeling: Transfer functions, state equations, block


diagrams.
System response; performance specifications.
Stability of feedback systems: Routh Hurwitz criterion, Nyquist
stability criterion, gain margin and phase margin.
Design of dynamic compensators.
Analysis and design techniques using rootlocus.
(optional) State space techniques: Controllability, observability, pole
placement and estimator design.
(optional) Discretetime control systems.

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

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Specific goals of the course

To model systems and to obtain transfer function.


To identify the differences between openloop and closedloop
control systems.
To acquire knowledge about the fundamental characteristics of
control systems.
To acquire knowledge about the analysis techniques of control
systems.
To analyse stability of control systems.
To analyse steady state error of control systems.
To design simple controllers.
To design controllers and observers for state space systems.

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

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Book

Text: Feedback Control of Dynamic Systems by G. F. Franklin, J. D.


Powell, A. E Naeini.
Suggested supplementary material: Feedback and Control for
Everyone by Pedro Albertos, Iven Mareels.
While all the slides are not from the book, the course is organized to
follow the book.
Some of the homework problems and exam questions come from the
book.
You will need to read additional information beyond the class notes.

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How should I use the class materials?

Download lecture slides on a topic. Print the slides at 2 (or 3 or 4)


per page. Listen to the lecture and take notes on the printed pages.
After the lecture, go through the slides and your notes.
Work on the examples using the provided solutions.
Work on the examples without using solutions.
Work on the homework problems.
Questions in class are strongly encouraged. It is extremely difficult to
teach a course without some sort of real time feedback.

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Grading
Final scores will be calculated according to the following weighted
overall performance (tentative):
Homeworks and quizzes 10%
2 tests
25% each
Final exam
40%
Final letter grades will be assigned based on the following scale:
90 100 AA
85 89
BA
80 84
BB
75 79
CB
70 74
CC
65 69
DC
60 64
DD
50 59
FD
0
49
FF
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About homeworks and tests


Homework will not be accepted late. If you have a valid reason for
failing to meet deadlines, you should see me in advance.
Collaboration on homework is allowed, since one of the main
objectives of homework is to get you talking and thinking about the
material. Copying someone elses homework is just plain unethical.
First midterm exam: March 31st, 2015 (7th week), 10.4512.30
Second midterm exam: April 30th, 2015 (11th week), 9.4511.30
Final Exam: June 2nd, 2015, 10.4512.30
Tests are closed book and closed notes.
You are not allowed to use any calculator on the tests.
You are not allowed to use cell phones or other electronic equipment
during the tests.
Make sure your writing is neat, readable, and proceeds logically to the
solution if I cannot read it or make sense of it, you will NOT get
the points.
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Contacting the instructor

Office hours are Friday morning or by appointment.


Send an email to enver@iyte.edu.tr or envertatlicioglu@iyte.edu.tr with
any questions related to the course. My response to your emails may
be delayed if I receive them during weekend or after 5PM during
weekdays.
It is generally not efficient to answer technical questions by email.
Office hours are provided to give a more interactive discussion.

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Is this class hard?

Yes. You can learn it, but ...


Work on it as we go! You cannot catch up if you wait until the test!!!
If you get behind it may be hard to catch up.
Practice is the key to this class.
Work the problems!

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Academic integrity

We are expecting you to behave professionally.


No cheating!

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Final thought

This material is interesting and can help you in your career.


Give the class your best effort.

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Feedback control systems


I wont feel happy if a student
visits me after the Final exam, mentions that his/her GPA is 1.79 (or 1.99),
and asks for a grade bump;
or sends me email for the same purpose;
or sends me his/her parents for the same purpose.

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

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Notation

iff = if and only if


+ve = positive
-ve = negative

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