You can download a .pdf version of the course syllabus.
Lab Time: Tuesday, 10:30 a.m. - 1:20 p.m., Sci. & Tech. I, Room 2B
Graduate Teaching Assistant: Tugba Erpek
Office Hours: Wednesday, 1:30 - 3:30 p.m., and Thursday, 2:00 - 4:00 p.m., Sci. & Tech. I, Room 2B
Prerequisites: ECE 421 or POI.
ECE 422 is not a co-requisite for
this lab.
Introduction:
Objectives:
The objective of this laboratory is to enable the students to strengthen
their understanding of the design and analysis of control systems through
practical exercises. This will be accomplished by using modern software
resources to analyze and simulate the performance of realistic system models
and to design control systems to satisfy various performance specifications.
Students in the lab will be divided into groups of 2-3 students each. Students will document each experiment with
a description of their procedures, results of their analysis or design, and plots as appropriate.
The reports for the
various experiments within a particular set will be turned in to the GTA at one time when the set is completed.
Although students will work in teams to carry out the experiments, each student is required to submit his/her own lab report. Lab reports MUST be done individually. It is an honor code violation to submit another person's work as your own OR to allow your work to be submitted as another person's work. Any reasonable suspicion of an honor violation will be reported.
Overview:
The control systems laboratory consists of four separate units. Each unit consists of one or more experiments. Unit A is a review of basic compensator design techniques.
Unit B involves
compensator design for a system involving time-domain specifications, uncertainty, and nonlinearities.
Unit C involves the
design of a control system using frequency-domain specifications, and the evaluation of various configurations of the compensator. Unit D involves
compensator design for a system using frequency-domain specifications for a
non-minimum-phase system.
Unit A -- 3 weeks:
This set of experiments is intended to provide students with a review of standard control system design techniques for a fairly simple single-block system. Gain compensation is used initially, and then dynamic compensators, such as phase lead or phase lag, are used to satisfy certain performance requirements. Requirements are given in both the time domain and frequency domain.
Unit A.1, Unit A.2, Unit A.3
Unit B -- 4 weeks:
The transfer function which is to be used in this set of experiments
represents the relationship between the heading angle of a ship and the
angle of the rudder used for controlling heading. A compensator will be designed
for the nominal linear system model, and the performance of the closed-loop system
will be evaluated. Following that, nonlinearities and changes to the ship model will
be introduced, and their effects on performance and stability will be investigated.
Simulation of the system will be done in SIMULINK.
Unit B.1, Unit B.2
Unit C -- 2 weeks:
This set of experiments involves the design and evaluation of a compensator for controlling the vertical velocity (depth rate) of an underwater vehicle having zero forward speed. Specifications are given in the frequency domain. Comparisons in the time-domain and frequency-domain will be done for the compensator in its normal series configuration and in the Proportional+Derivative with Derivative on Output Only (PD-DOO) configuration.
Unit C.1, Unit C.2
Unit D -- 3 weeks:
The plant transfer function has a right-half-plane (non-minimum-phase) zero.
Design specifications are given in the frequency domain. A compensator must be
designed so that all specifications are satisfied. The closed-loop system will
be evaluated from several perspectives. Characteristics in the closed-loop
system's step response related to the non-minimum-phase zero will be identified
and discussed.
Unit D.1
J.J. D’Azzo and C.H. Houpis, Linear Control System Analysis and Design, McGraw-Hill, New York, 4th edition, 1995.
Richard C. Dorf and Robert H. Bishop, Modern Control Systems, Addison-Wesley, Reading, MA, 10th edition, 2005.
F. Franklin, J.D. Powell, and A. Emami-Naeini, Feedback Control of Dynamic Systems, Addison-Wesley, Reading, MA, 3rd edition, 1994.
Graham C. Goodwin, Stefan F. Graebe, and Mario E. Salgado, Control System Design, Prentice Hall, Upper Saddle River, NJ, 2001.
Benjamin C. Kuo, Automatic Controls Systems, Prentice Hall, Englewood Cli.s, NJ, 7th edition, 1995.
Norman S. Nise, Control Systems Engineering, John Wiley & Sons, New York, 3rd edition, 2000.
Katsuhiko Ogata, Modern Control Engineering, Prentice Hall, Upper Saddle River, NJ, 4th edition, 2002.
C.L. Phillips and R.D. Harbor, Feedback Control Systems, Prentice Hall, Upper Saddle River, NJ, 4th edition, 2000.
G.J. Thaler, Automatic Control Systems, West, St. Paul, MN, 1989.
John Van de Vegte, Feedback Control Systems, Prentice Hall, Englewood Cli.s, NJ, 3rd edition, 1994.
William A. Wolovich, Automatic Control Systems, Holt, Rinehart, and Winston, Fort Worth, TX, 3rd edition, 1994.
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Latest revision on Thursday, June 8, 2006 9:39 AM