EEL 4657Linear Control Systems

  1. Catalog Description – (3 credits) Theory and design of linear control systems.
  1. Pre-requisites–EEL 3111C and EEL 3135
  1. Course Objectives - To understand the essentials of mathematical system modeling; to be able to assess stability and performance properties of linear systems, and be able to design lead and lag controllers for linear systems using s-domain and frequency domain techniques
  1. Contribution of course to meeting the professional component (ABET only – undergraduate courses) – 3 credits of Engineering Science
  1. Relationship of course to program outcomes: Skills student will develop in this course (ABET only undergraduate courses) -EE2, EE3, a, c, e, k
  1. Instructor -Dr. Jacob Hammer
  2. Office location: 563 NEB
  3. Telephone: 392-4934
  4. E-mail address:
  5. Class Web site:
  6. Office hours:MWF 3:05-4:00 pm
  7. Teaching Assistant –Kyle Zins
  8. Office location: 222 NEB
  9. Telephone:
  10. E-mail address:
  11. Office hours:

Teaching Assistant – Daniel Jensen

  1. Office location: 222 NEB
  2. Telephone:
  3. E-mail address:
  4. Office hours:
  1. Meeting Times and Location – Please see UF schedule
  1. Class/laboratory schedule- 3 class periods each week consisting of 50 minutes each
  1. Material and Supply Fees - None
  1. Textbooks and Software Required -
  2. Title:Dorf and Bishop
  3. Author:Modern Control Systems
  4. Publication date and edition: latest, Prentice Hall
  5. ISBN number:
  6. Laboratory manual: H. Latchman, Jung Eun Son, KartikeyaTripathi, ``Control Systems Analysis and Design: A Laboratory Manual and Handbook, 2nd edition, ISBN 9780470633694, John Wiley & Sons,Dec. 2009.
  1. Recommended Reading - None
  1. Course Outline -

System Models – Differential Equations, State Space, Transfer Functions, Discrete-Time

Block Diagrams and Masons Formula

Stability Analysis – BIBO and Asymptotic Stability, Stability Margins, Routh Hurwitz

Performance Criteria: Steady State Error and Transient Behavior , Percentage Overshoot, Settling Time, Rise Time

Root Locus & Simple Proportional Gain Controller Design

Lead and Lag Design in the s-domain

Nyquist Stability Criterion and Bode Plots

Controller Design in the Frequency Domain

Advanced Topics

Laboratory Schedule

Week of 1/26: Frequency Response Experiment

Week of 2/2: Bump Test Experiment

Week of 2/9: Model Validation Experiment (summary report about the three experiments in this group is due next week).

Week of 2/16: Step Response Using PV Controller

Week of 2/23: Ramp Response Using PV Controller

Week of 3/9: Ramp Response with No Steady-State Error (summary report about the three experiments in this group is due next week).

Week of 3/16: Step Response with PI Control

Week of 3/23: Step Response with LEAD Control (summary report about the two experiments in this group is due next week).

Week of 3/30: Cascade Control with Ideal PD Controller

Week of 4/6: Cascade Control with Practical PD Controller and Servo Dynamics (summary report about the two experiments in this group is due next week).

  1. Attendance and Expectations - Cell phones and other electronic devices are to be silenced. No text messaging during class or exams.

Requirements for class attendance and make-up exams, assignments, and other work in this course are consistent with university policies that can be found in the online catalog at:

The laboratory will start during the fourth week of classes, namely, during the week of 1/26.For further questions about the laboratory, please contact Daniel Jensen, Kyle Zins, or Dr. Hammer.Every lab will start with a 15 minute quiz to verify readiness for the lab experiment.

Safety First!Although the voltages you will be dealing with are unlikely to hurt you directly, care should always be taken when dealing with electricity. When soldering, you should wear safety glasses and protect your hands. Be careful and ask questions if you have any doubts. Use common sense. In an emergency, know what to do.

Keep your area clean and uncluttered. Report any broken or damaged equipment to your TA.

  1. Grading –

Lecture – There will 2 exams: midterm (35%) and a comprehensive final (55)

Laboratory - Each lab report has a maximal score of 10 points, and is due one week after completion of the lab. There will be two quizzes, one in the middle of the semester and one at the end. The quizzes may include material from the pre-lab assignment, lab procedure, or previous lab reports. Grading will be 70% lab reports, 10% pre-labs, and 20% quizzes. The grade is determined by the pre-lab assignments, the quizzes, and the lab reports. Each quiz carries a weight of 5 points, while each individual lab report carries a weight of 10 points. There are 4 pre-lab assignments with a weight of 10 points each; and 4 summary reports with a weight of 15 points each. The maximal number of points for the course is therefore 250 points.

  1. Grading Scale –

A / A- / B+ / B / B- / C+ / C / C- / D+ / D / D- / E
93-100 / 90-92 / 87-89 / 83-86 / 80-82 / 77-79 / 73-76 / 70-72 / 67-69 / 63-66 / 60-62 / 0-59

This statement must be included in every grade scale for undergraduate level 1000-4000 syllabi:

“A C- will not be a qualifying grade for critical tracking courses. In order to graduate, students must have an overall GPA and an upper-division GPA of 2.0 or better (C or better).” Note: a C- average is equivalent to a GPA of 1.67, and therefore, it does not satisfy this graduation requirement. For more information on grades and grading policies, please visit:

This statement must be included in every grade scale for 5000 level graduate syllabi:

“Undergraduate students, in order to graduate, must have an overall GPA and an upper-division GPA of 2.0 or better (C or better). Note: a C- average is equivalent to a GPA of 1.67, and therefore, it does not satisfy this graduation requirement. Graduate students, in order to graduate, must have an overall GPA of 3.0 or better (B or better).” Note: a B- average is equivalent to a GPA of 2.67, and therefore, it does not satisfy this graduation requirement. For more information on grades and grading policies, please visit:

This statement must be included in every grade scale for 6000 level graduate syllabi:

“In order to graduate, graduate students must have an overall GPA and an upper-division GPA of 3.0 or better (B or better).” Note: a B- average is equivalent to a GPA of 2.67, and therefore, it does not satisfy this graduation requirement. For more information on grades and grading policies, please visit:

  1. Make-Up Exam Policy - If you have a University-approved excuse and arrange for it in advance, or in case of documented emergency, a make-up exam will be allowed and arrangements can be made for making up missed work. University attendance policies can be found at:

Otherwise, make-up exams will be considered only in extraordinary cases, and must be taken before the scheduled exam. The student must submit a written petition to the instructor two weeks prior to the scheduled exam and the instructor must approve the petition.

  1. Honesty Policy – UF students are bound by The Honor Pledge which states, “We, the members of the University of Florida community, pledge to hold ourselves and our peers to the highest standards of honor and integrity by abiding by the Honor Code. On all work submitted for credit by students at the University of Florida, the following pledge is either required or implied: “On my honor, I have neither given nor received unauthorized aid in doing this assignment.” The Honor Code ( specifies a number of behaviors that are in violation of this code and the possible sanctions. Furthermore, you are obligated to report any condition that facilitates academic misconduct to appropriate personnel. If you have any questions or concerns, please consult with the instructor or TAs in this class.
  1. Accommodation for Students with Disabilities – Students requesting classroom accommodation must first register with the Dean of Students Office. That office will provide documentation to the student who must then provide this documentation to the course instructor when requesting accommodation.
  1. UF Counseling Services – Resources are available on-campus for students having personal problems or lacking clear career and academic goals. The resources include:

·UF Counseling & Wellness Center, psychological and psychiatric services, 3190 Radio Rd, 392-1575, online:

·Career Resource Center, Reitz Union, career and job search services, 392-1601.

·University Police Department, 392-1111 or 911 for emergencies

  1. Software Use – All faculty, staff and student of the University are required and expected to obey the laws and legal agreements governing software use. Failure to do so can lead to monetary damages and/or criminal penalties for the individual violator. Because such violations are also against University policies and rules, disciplinary action will be taken as appropriate. We, the members of the University of Florida community, pledge to uphold ourselves and our peers to the highest standards of honesty and integrity.
  1. Course Evaluation – Students are expected to provide feedback on the quality of instruction in this course based on 10 criteria. These evaluations are conducted online at: Evaluations are typically open during the last two or three weeks of the semester, but students will be given specific times when they are open. Summary results of these assessments are available to students at: