linear Control
Fall 2016
Credits: 3
Level: Undergraduate, required
Prerequisite: Signal and Systems
Hours: Saturday, 7.45-10.15 or 10.30-13
Location: 404
Course Syllabus:
1. Introduction to Control Systems. Examples of Control Systems. Closed-Loop Control versus Open-Loop Control.
2. The Laplace Transform. Review of Complex Variables and Complex Functions. Laplace Transformation.
Laplace Transform Theorems. Inverse Laplace Transformation.
3. Mathematical Modeling of Dynamic Systems. Transfer Function and Impulse-Response Function.
Automatic Control Systems. Mechanical Systems. Electrical and Electronic Systems. Signal Flow Graphs.
4. Transient and Steady-State Response Analyses. First-Order Systems. Second-Order Systems.
Higher-Order Systems. Transient-Response Analysis with MATLAB. An Example Problem Solved with MATLAB.
Routh's Stability Criterion. Effects of Integral and Derivative Control Actions on System Performance.
Steady-State Errors in Unity-Feedback Control Systems.
5. Root-Locus Analysis. Root-Locus Plots. Summary of General Rules for Constructing Root Loci.
Root-Locus Plots with MATLAB. Conditionally Stable Systems.
6. Frequency-Response Analysis. Bode Diagrams. Plotting Bode Diagrams with MATLAB. Polar Plots.
Drawing Nyquist Plots with MATLAB. Log-Magnitude-versus-Phase Plots. Nyquist Stability Criterion.
Stability Analysis. Relative Stability. Closed-Loop Frequency Response of Unity-Feedback Systems.
7. Control Systems Design by the Root-Locus Method. Preliminary Design Considerations. Lead Compensation.
Lag Compensation. Lag-Lead Compensation. Parallel Compensation.
8. Control Systems Design by Frequency Response. Lead Compensation. Lag Compensation.
Lag-Lead Compensation. Concluding Comments.
9. PID Controls and Two-Degrees-of-Freedom Control Systems. Tuning Rules for PID Controllers.
10. Analysis of Control Systems in State Space. State-Space Representations of Transfer-Function Systems.
Transformation of System Models with MATLAB. Solving the Time-Invariant State Equation.
11. Design of Control Systems in State Space. Pole Placement.
Grading:
1. Homework: 15%-24%
2. Mid-term exam: 25%
3. Final exam: 51%-60%
References:
1- Automatic Control Systems, 8th ed. ,Kuo & Golnaraghi Prentice Hall, 2003.
2- Modern Control Engineering, 3rd ed., K. Ogata, Prentice, Hall 1997. ( Download the DjVu Browser با این برنامه باز کنید)
3- Modern Control Systems, 9th ed., R.C. Dorf, Prentice Hall 2001. (سیستمهای کنترل مدرن، ترجمه دکتر قدرت سپید نام)
Useful links:
MATLAB Mathworks Control System Toolbox Linear Control E_Course Virtual Laboratory
Control System Design (Prof Goodwin) Nonlinear Lab
What you should know
Introduction to Control Engineering
Laplace Transforms Table
Properties of Laplace Transform
PID with opamp
Some root loci configurations
MATLAB background
Useful MATLAB command
Exercise
Exercise #1 : Ex1, Ex1_Solution, Solved Problem, Ex1_2 + Eng2Persian
Results Excel Results G(s) for MATLAB Projects
Exercise #2 :
Exercise #3 : Solved Problem + Exercise 3 + RLCdemo in MATLAB
Ex3_Solution
Exercise #4 Root locus, Ex4
Exercise #5 Nyquist , Ex4_0, Ex5, Ex 4,5_Solution
Exercise #6 Gain & Phase Margin
Exercise #7 Miscellaneou Solutions
Midterm Result Midterm Solution