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Lectures:Tue/Thu, 2:00-3:20, NH 106 Instructor: Dan Popa, Ph.D., Associate Professor, EE Office hours: Tue/Thu 11:30 pm 1:30 pm, NH 543, or by appointment. Course TAs: Isura Ranatunga, M. Rashid Pac Course info: http://www.uta.edu/faculty/popa/control
Grading policy: 6 Homeworks 20% 6 Labs 20% Midterm I (in-class) 20% Midterm II (take-home) 20% Final (in-class) 20% Grading criteria: on curve based on class average
Syllabus
Assignments:
Homeworks contain both written and/or computer simulations using MATLAB. Submit code to the TAs if it is part of the assignments. Lab sessions are scheduled in advance, bi-weekly, so that the TAs can be in the lab (NH 250). While the lab session is carried out in a group, the Lab report is your own individual assignment. Reading Assignments: After each course, the assigned reading material wil help you better understand the concepts. Materials from the reading assignments may also be part of course exams. Examinations: Three exams (midterms, final), in class or take home. In rare circumstances (medical emergencies, for instance) exams may be retaken and assignments can be resubmitted without penalty. Missed deadlines for take-home exams and homeworks: Maximum grade drops 15% per late day (every 24 hours late).
Dan O. Popa, Control Systems EE 4314, Spring2011
Honor Code
Academic Dishonesty will not be tolerated. All homeworks and exams are individual assignments. Discussing homework assignments with your classmates is encouraged, but the turned-in work must be yours. Discussing exams with classmates is not allowed. Your take-home exams and homeworks will be carefully scrutinized to ensure a fair grade for everyone. Random quizzes on turned-in work: Every student will be required to answer quizzes in person at least twice during the semester for homework and take home exam. You will receive invitations to stop by during office hours. Credit for turned in work may be rescinded for lack of familiarity with your submissions. Attendance and Drop Policy: Attendance is not mandatory but highly encouraged. If you skip classes, you will find the homework and exams much more difficult. Assignments, lecture notes, and other materials re going to be posted here, however, due to the pace of the lectures, copying someone else's notes may be an unreliable way of making up an absence. You are responsible for all material covered in class regardless of absences.
Catalog description:
Catalog description: EE 4314. CONTROL SYSTEMS (3-0) Analyses of closed loop systems using frequency response, root locus, and state variable techniques. System design based on analytic and computer methods. This is an introductory control systems course. It presents a broad overview of control techniques for continuous and discrete linear systems, and focuses on fundamentals such as modeling and identification of systems in frequency and state-space domains, stability analysis, graphical and analytical controller design methods. The course material is divided between several areas:
Control Systems: classification, modeling, and identification Basics of Feedback: performance and stability Control Design Methods: frequency domain, state-space Programming excercises using MATLAB and Simulink Laboratory experiments
Week 17 - May 10
Final exam (in-class) (comprehensive) in class, no calculator Bring a 5-page, double-sided cheat sheet, handwriting only
Course Objectives
Students should be familiar with the following topics:
1. 2. 3. 4. 5. 6. 7. 8. 9. 10. Modeling of physical dynamic systems Block diagrams Specifications of feedback system performance Steady-state performance of feedback systems Stability of feedback systems Root-locus method of feedback system design Frequency-response methods Nyquists criterion of feedback loop stability ' Design using classical compensators State variable feedback
System:
Object in which input signals interact to produce output signals. Static vs dynamic systems Fundamental properties that make it predictable:
Sinusoid in, sinusoid out of same frequency (when transients settle) Double the amplitude in, double the amplitude out (when initial state conditions are zero)
Dan O. Popa, Control Systems EE 4314, Spring2011
System Modeling
Building mathematical models based on observed data, or other insight for the system.
Parametric models (analytical): ODE, PDE Non-parametric models: ex: graphical models - plots, or look-up tables. Mental models Ex. Driving a car and using the cause-effect knowledge Simulation models ex: Many interconnect subroutines, objects in video game
Dan O. Popa, Control Systems EE 4314, Spring2011
Types of Models
White Box
derived from first principles laws: physical, chemical, biological, economical, etc. Examples: RLC circuits, MSD mechanical models (electromechanical system models).
Black Box
model is entirely derived from measured data Example: regression (data fit)
Disadvantages
Application Areas
This course deals with both white and black models which are linear
Dan O. Popa, Control Systems EE 4314, Spring2011
LTI Models
Continuous-time linear dynamical system (LDSC) has the form dx/dt= A(t)x(t) + B(t)u(t), y(t) = C(t)x(t) + D(t)u(t) where:
t R denotes time x(t) Rn is the state (vector) u(t) Rm is the input or control y(t) Rp is the output
Dan O. Popa, Control Systems EE 4314, Spring2011
when u(t) and y(t) are scalar, system is called singleinput, single-output (SISO) when input & output signal dimensions are more than one, MIMO
Example: Aircraft MIMO
Dan O. Popa, Control Systems EE 4314, Spring2011
Automatic Control
Control: process of making a system variable converge to a reference value If ref_value=constant - servo (tracking control) If ref_value=changing - regulation (stabilization) Open Loop vs. closed loop control
Primitive Period of AC
Primitive Period of AC
James Watt Fly-Ball Governor For regulating steam engine speed (late 1700s)
Classical Period of AC
Stability Analysis: Maxwell, Routh, Hurwitz, Lyapunov (before
1900). Electronic Feedback Amplifiers with Gain for long distance communications (Black, 1927) Stability analysis in frequency domain using Nyquist criterion (1932), Bode Plots (1945).
PID controller (Callender, 1936) servomechanism control Root Locus (Evans, 1948) aircraft control Most of the advances were done in Frequency Domain.
Modern Period of AC
Time domain analysis (state-space) Bellmann, Kalman: linear systems (1960) Pontryagin: Nonlinear systems (1960) IFAC Optimal controls H-infinity control (Doyle, Francis, 1980s) loop shaping (in frequency domain). MATLAB (1980s to present) has implemented math behind most control methods.
MATLAB Exercises
Run the following MATLAB demos:
Type demo at the MATLAB prompt Watch Getting Started Videos Run as many Simulink Demos as you can. For each one:
Double click all the model boxes and look inside Try to modify parameters which make sense to you and see their effects by running the model.