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EE 179/ECE 172: LINEAR CONTROL SYSTEM

1st Term 2012-2013


Instructor Details:

Engr. Edilberto C. Vergara, Jr.


Phone: 09214010588; 09327237697 Email: ecvergarajr@gmail.com Course Details: Prerequisites:

Office: EE/ECE Faculty, Ground Floor, H-bldg. Office Hours: Website: ecvergarajr.blog.com

Class Meetings:

EE 133 Advanced Circuit Theory (for EE Students) EE 132 Electric Circuit Theory II (for ECE Students) EE 173 Electronics Circuit II ES 81 Mathematical Methods of Engineering MTH / 10:30 AM 12:00 NN H2-07

Course Description: This course deals with the analysis and design of linear control systems, focusing on feedback or closed-loop systems. It will start with electrical and mechanical systems modelling. Students will be exposed to control systems components, block diagrams, and transfer functions. The use of flow graphs and state variables to analyze control systems will also be discussed. Design requirements in terms of performance, stability and steady-state error will be studied thoroughly so that the students will have a complete knowledge in designing simple yet intelligent control systems. Tools such as bode and polar plots, root locus, Routh-Hurwitz criterion, and Nyquist diagram will be used to further explore various control systems. Finally, students will be exposed to different types of compensators and controllers to improve their designs. This course will utilize lecture, problem solving, simulations and discussions as its core method of learning. Students are then expected to have an in-depth analysis of existing closed-loop control system. Course Objectives: Upon completion of this course, the students must be able to 1. Understand the principles and the use of feedback control systems through many example systems. 2. Analyze linear systems, which are used in control engineering, signal processing, and communications. 3. Familiarize & compete in modelling, analyzing and designing feedback control systems, employing both analytical and numerical techniques. 4. Apply system analysis and problem solving skills to other branches of engineering. Course Outline: Module 0: Basic Control System Concepts Module 1: Modelling 1. Frequency Domain 2. Time Domain Module 2: Analysis 1. Time Response

2. Stability 3. Steady-State Error Module 3: Design 1. Root Locus 2. Frequency Response 3. State Space

Course Material: Students are required to have a copy of at least one of the reference textbooks listed below. Books are vital in this course, so please purchase or secure a copy right away. th Control Systems Engineering 5 ed. Nise, Norman S. John Wiley and Sons. (2008). th Modern Control Systems 11 ed. Dorf, R. C. & Bishop, R. H. Pearson Education International. (2008). th Modern Control Engineering 4 ed. Ogata, Katsuhiko. Prentice Hall. (2002). st Linear Control Systems Engineering 1 ed. Driels, Morris. McGraw-Hill International Editions. (1996). th Linear Control System Analysis and Design 4 ed. DAzzo, J. J. & Houpis, C. H. McGraw-Hill International Editions. (1995). st Systems and Control 1 ed. ak, Stanislaw H. Oxford University Press. (2003). nd Modern Control Technology: Components and Systems 2 ed. Kilian. Delmar. st Modern Control Systems Analysis and Design Using MATLAB 1 ed. Bishop, Robert H. Addison-Wesley Publishing Company. nd Control Systems Engineering 2 ed. Nagrath, I. J. & Gopal, M. Wiley. (1982). Course Requirements and Grading: You can easily keep track of your grade in the course by computing your scores as we go along. The grade components and the associated weights are as follows: 1. Quizzes 10% 2. Prelim Exam 15%

3. 4. 5.

Midterm Exam 20% Final Exam 25% Design 30% Total 100% Passing Rate: 60%

= 0.7 0.1

+ 0.15 + 0.2 + 0.25 + 0.3 % + 0.3 100%

Assignments Homework assignments will be given approximately weekly. These assignments are not graded but it must be done and submitted so I can keep track of your learning. Therefore, it is strongly advised that you do this independently. Group discussion is encouraged but students must submit separate write-ups. You can submit it to me by email (in a single pdf file). Quizzes These short quizzes, which will be given at the start of every meeting will indicate that you have been keeping up with the reading regularly. Exams General Inform me in writing of any legitimate exam conflicts at least one week in advance. (All exam dates have been set and appear in the tentative schedule.) If I do not receive written notice at least one week before the exam, you will not be given the opportunity to take it another time. If you miss an exam due to illness or injury, a make-up will not be scheduled for you unless I receive a letter from your doctor (on letterhead) indicating the date and time of the medical problem that prevented you from taking the test. You are responsible for contacting me concerning missing an exam as soon as possible, preferably before the exam. If you are unable to take a make-up exam before the next class session, your doctors letter must also indicate the date through which your medical incapacity extended. If you have a letter from your doctor, I may choose to give you a substitute test or I may assign greater weight to another test. Prelim and Midterm Exams Long exams will consist mainly of solving electrical circuit problems. Be sure to read the instructions that appear on the test paper. A 5% deduction in the score will be given for each violation of the instruction. Final Exam The final exam will be cumulative, but with a focus on material covered after the Midterm. It will be held during the normal examination period (note date and time on the last page of the syllabus). No make-up will be offered and you will not be permitted to take the exam early. Class Policies and Approach: General Please let me know immediately if you have any problem that is preventing you from performing satisfactorily in this class. If you have a learning disability that may affect your performance, please let me know immediately, so that we can make arrangements to accommodate your needs now, rather than at the last minute. Academic Integrity This course will enforce strict standards of academic integrity. Cheating and plagiarism will NOT be tolerated. When doing tests, be sure you do not attempt to give or receive unauthorized information. Violations of these will typically result in a failure for the course. Cheating: [During an exam] All communications, written, oral or otherwise, among students is forbidden. The use of notes, books, or other written materials or other aids is forbidden. Providing or receiving information about the content of an exam is forbidden. The use of anyone else to take an exam for a student is forbidden.

Plagiarism: Students are required to submit their own work. Ideas, data, or any other incorporation of the work of others must be clearly referenced. To do otherwise constitutes plagiarism. Examples of plagiarism includes: The use of other persons or services to prepare written work that [the students submits as his or her] own (ex: solvers) The use of previously or concurrently submitted papers or segments thereof written by the student himself or herself; and

Submission of the same or very similar papers in different sections of multiple section courses by collaborating students.

The behaviors just described are not all-inclusive, but only examples of plagiarism and other forms of cheating. No form of cheating or plagiarism is acceptable. Grade Query and Rebuttal Your recorded grade will be available for your review at any convenient time. Do remember to keep all test papers returned to you so that any discrepancies can be easily and fairly straightened out. Except in cases of actual error, final grades are permanent. If you feel that a calculation or judgment error has been made in the grading of an assignment or exam, please write a formal memo to me describing the error and give it to me or leave it in my table with the original graded document. Also include documentation in support of your opinion (e.g., a photocopied page from the textbook with the relevant information highlighted). I will then regrade the whole exam and make a decision. I will get back to you as quickly as possible with an answer. Please note that any request for re-assessment of a grade usually results in re-grading the ENTIRE assignment or test. (This means that if errors are detected in the grading of others, they will also be corrected, whether they are in your favor or not.) Students have one week after a test paper has been returned to them to submit a grade rebuttal. After that date, no rebuttals will be accepted. If you are late picking up your papers because you are not in class, you will not receive extra time to turn in a grade rebuttal. Tentative Schedule:
DATE June 14, 2012 June 18, 2012 June 21, 2012 June 25, 2012 June 28, 2012 July 2, 2012 July 5, 2012 July 9, 2012 July 11, 2012 July 12, 2012 July 16, 2012 July 19, 2012 July 23, 2012 July 26, 2012 July 30, 2012 Aug 2, 2012 Aug 6, 2012 Aug 9, 2012 Aug 13, 2012 Aug 16, 2011 Aug 20, 2012 Aug 22, 2012 Aug 23, 2012 Aug 27, 2011 Aug 30, 2011 Sept 3, 2012 Sept 6, 2012 Sept 10, 2012 Sept 13, 2012 Sept 17, 2012 Sept 20, 2012 Sept 24, 2012 Sept 27, 2012 Oct 1, 2012 Oct 4, 2012 Oct 8, 2012 Oct 11, 2012 Oct 15, 2012 Oct 17, 2012 TOPIC/ACTIVITY Overview of the Course; Design Requirements; Discuss Syllabus Electrical Systems Transfer Function Translational Mechanical System Transfer Functions Rotational Mechanical System Transfer Functions Electromechanical System Transfer Functions State Space Representations Converting Transfer Function to State Space Converting State Space to Transfer Function Prelim Exam First Order Systems General Second-Order Systems Underdamped Second-Order Systems System Response with Addition Poles and with Zeros Laplace Transform Solution and Time Domain Solution of State Equations Block Diagram Reduction Signal-Flow Graphs; Masons Rule Alternative Representations in State Space; Similarity Transformation Routh-Hurwitz; Stability in State Space Steady-State Error for Unity Feedback Systems Disturbances & Nonunity Feedback Systems Sensitivity; Steady-State Error in State Space Midterm Exam Root Locus Refining the Root Locus; Transient Response Design via Gain Adjustment Generalized Root Locus; Root Locus for Positive-Feedback; Pole Sensitivity Improving Steady-State Error and Transient Response via Cascade Compensation Improving Steady-State Error & Transient Response Feedback Compensation & Physical Realization of Compensation Bode Plots Nyquist Criterion & Diagram Stability, Gain Margin, & Phase Margin via Nyquist & Bode Design Using Sinusoidal Tools; Lag Compensation Lead and Lag-Lead Compensation Controller Design and Controllability Observer Design and Observability Steady-State Error Design via Integral Control Review Class Review Class Final Exam READINGS (Nise, 6ed) Chapter 1 2.1 2.4 2.5 2.6 2.7 2.8 3.1 3.4 3.5 3.6 4.1 4.3 4.4 4.5 4.6 4.7 4.8 4.10 4.11 5.1 5.3 5.4 5.6 5.7 5.8 Chapter 6 7.1 7.4 7.5 7.6 7.7 7.8 8.1 8.4 8.5 8.7 8.8 8.10 9.1 9.3 9.4 9.5 9.6 10.1 10.2 10.3 10.4 10.5 10.7 11.1 11.3 11.4 11.5 12.1 12.4 12.5 12.7 12.8

Note: Schedule may change without prior notice. In any event that a class may not be conducted (e.g. holiday, instructor on leave, etc.), the students are expected to study the topic for that day. However, an activity/homework will be given for students to cope up with the assigned readings.