Theory and Design of Control Systems

ME 575 Syllabus

Theory and Design of Control Systems

Fall Semester 2002

Instructors:Professor Bin Yao, ME 372, 494-7746

E-mail: byao@ecn

Lectures: MWF 1:30 – 2:20PM

Office Hour: MF2:30 – 3:30 PM, W10:30 – 11:30AM

Course Text:Control System Design, G. C. Goodwin, Stefan F. Graebe and M. E. Sagado, Prentice-Hall, Inc., 2001.

References:[1]Feedback Control Theory, J. C. Doyle, B. A. Francis, and A. R. Tannenbaum,

Macmillan Publishing Co., 1992.

[2] Feedback Control of Dynamic Systems, G.F. Franklin, J.D. Powell, and A. Emami-Naeini, Prentice-Hall, Inc., 3rd Ed., 1994.

[3] Modern Control Engineering, K. Ogata, Fourth Edition, Prentice Hall, 2002.

[4] Control Systems Engineering, N.S. Nise, Benjamin/Cummings, 3rd Ed., 2000.

Prerequisite:Undergraduate level introductory control course or study the material by yourself for any missing background needed.

Goals:This course is designed to provide a graduate level introductory treatment of the theory and design of feedback control systems from both a classical and modern view points, with a strong emphasis on the design of performance oriented controllers under typical practical implementation constraints. Such a goal will be achieved through the understanding of fundamental performance limitations of various controller architectures and the integration of the systematic state-space design methodologies with their frequency domain interpretations.

Contents:Classical control design methodologies are reviewed, including both the time-domain design via root locus and the frequency-domain design via Nyquist stability criterion and Bode plots. Advanced mathematical design tools will be introduced to formalize the underlining design principles of these classical design methodologies, with a strong emphasis on the understanding of fundamental performance limitations of various controller architectures introduced. The state-space representation is introduced, along with notions of stability, controllability, and observability. State feedback controllers for pole placement and state observers are discussed with emphasis on the integration of these designs with their frequency domain interpretations to synthesize performance oriented controllers under typical implementation constraints.

Grading Policy:

Homework30%

Midterm 30%

Final Exam40%

Homework Policy:

Homework will be assigned regularly. Each student is expected to complete the homework individually but group discussions are allowed on solving the problems. It is to be turned in by the specified deadlines. Late homework will receive no credit.

Examination Policy:

The exams will be closed books and closed notes, but you are allowed to bring TWO letter size hand written "crib sheets" to the exam. Exam re-grades must be requested in writing within one week after its original return. There will be no make-up examinations.

Computer Usage:

Students will be expected to use MATLAB for some of the homework assignments. You are expected to secure a computer account having MATLAB within the first week of class. There is also a self-paced MATLAB tutorial on the Web. It is strongly advised that you go through the tutorial before the 2rd week of the semester. The tutorial can be accessed through: "

Course Homepage:

login using Career Account username and password; click ME 575

Teaching Assistant:

Tutoring Hours:

Mon / Tue / Wed / Thr / Fri
10:30-11:30 / Office Hour
11:30-12:30
12:30-1:30
1:30-2:30 / Lecture / Lecture / Lecture
2:30-3:30 / Office Hour / Office Hour
3:30-4:30

Note: TA office hours are conducted in ME 322

ME 575 Tentative Course Outline

Period / Date / Topic / Reading Assignment / HW Due
1 / 08/19/Mon. / Introduction to Control Engineering / Chap.1
2 / 08/21/Wed. / Introduction to Principles of Feedback / Chap.2
3 / 08/23/Fri. / Model Structures, State-Space Models and High-Order I/O Differential Models / Chap.3, (3.1-3.8)
4 / 08/26/Mon. / Modeling Errors and Linearization / Chap.3 (3.9-3.14)
5 / 08/28/Wed. / Transfer Functions (TF) of State-Space Models and I/O Differential Models, and Stability / Chap.4 / #1
6 / 08/30/Fri. / Step Responses, Non-minimum-phase Zeros, and Undershoot
09/02/Mon. / Labor Day
7 / 09/04/Wed. / Frequency Responses, Bode Plots, and Modeling Errorsin TFs / Chap.4 / #2
8 / 09/06/Fri. / Nominal Sensitivity Functions, Internal Stability, Routh’s Stability Test, and Root Locus / Chap.5 (5.1-5.6)
9 / 09/09/Mon. / Nyquist Stability Criterion, Stability Margins and SensitivityPeaks / Chap.5 (5.7-5.8)
10 / 09/11/Wed. / Robustness and Robust Stability Theorem / Chap.5 (5.9-5.11) / #3
11 / 09/13/Fri. / Pole Placement via Polynomial Approach / Chap.7 (7.1-7.3)
12 / 09/16/Mon. / PID via Pole Placement and Smith Predictor for Time-Delay Systems / Chap.7 (7.4-7.6)
13 / 09/18/Wed. / Design Specifications and Characterization of Constraints / Chap.8(8.1-8.6) / #4
14 / 09/20/Fri. / Effect of Open-loop Integrators, Poles, and Zeros / Chap.8(8.6-8.7)
15 / 09/23/Mon. / Remedies (e.g., Integrator Anti-Wind-up) / Chap.8 (8.8-8.11)
16 / 09/25/Wed. / Frequency-domain Design Limitations / Chap.9 (9.1-9.3) / #5
17 / 09/27/Fri. / Poisson Integral Constraint on Sensitivity / Chap.9 (9.4)
18 / 09/30/Mon. / Constraint on Complementary Sensitivity / Chap.9 (9.5-9.8)
19 / 10/02/Wed. / Internal Model Principles (IMP) for Disturbance Rejection and Reference Tracking / Chap.10 (10.1-10.4) / #6
20 / 10/04/Fri. / Feedforward / Chap.10 (10.5-10.9)
10/07/Mon. / October Break
21 / 10/09/Wed. / Transfer Function to State-Space Form / Chap.17 (17.1-17.2)
22 / 10/11/Fri. / Mathematical Preliminary / Lecture Notes
23 / 10/14/Mon. / Eigenvalue and Eigenvectors / Lecture Notes
24 / 10/16/Wed. / Jordan Canonical Form / Lecture Notes / #7
25 / 10/18/Fri. / State Transition Matrix for Solving State-Space Models / Chap. 3.7
10/21/Mon / Midterm Exam, 7-9 PM
26 / 10/21/Mon. / Make-up Class for Midterm Exam
27 / 10/23/Wed. / Controllability and Stabilizability / Chap.17 (17.6)
28 / 10/25/Fri. / Observability and Detectability / Chap.17 (17.7)
29 / 10/28/Mon. / Canonical Decomposition / Chap.17 (17.8)
Period / Date / Topic / Reading Assignment / HW Due
30 / 10/30/Wed. / Pole-Zero Cancellation and System Properties / Chap.17 (17.9-17.11) / #8
31 / 11/01/Fri. / Pole Placement via State Feedback / Chap.18 (18.1-18.2)
32 / 11/04/Mon. / FullState Observer Design / Chap.18 (18.3)
33 / 11/06/Wed. / Reduced-order Observer Design / Lecture Notes / #9
34 / 11/08/Fri. / Output Feedback Design / Chap.18 (18.4-18.5)
35 / 11/11/Mon. / TF Interpretations of Output Feedback Design / 18.5
36 / 11/13/Wed / State-Space Interpretation of IMP / Chap.18 (18.7) / #10
37 / 11/15/Fri. / Trade-offs in State-Feedback and Observers / Chap.18 (18.8-18.11)
38 / 11/18/Mon. / Dynamic Programming / Chap.22 (22.1-22.3)
39 / 11/20/Wed. / Optimal Control / Chap.22 and Notes / #11
40 / 11/22/Fri. / Linear Quadratic Optimal Regulator (LQR) / Chap.22 (22.4)
41 / 11/25/Mon. / Properties of LQR / Chap.22 (22.5)
11/27/Wed. / Thanksgiving Holiday
11/29/Fri. / Thanksgiving Holiday
42 / 12/02/Mon. / Model Matching via LQR / Chap.22 (22.6)
43 / 12/04/Wed. / Connections between LQR and Pole Placement / Chap.22 (22.8-22.9) / #12
44 / 12/06/Fri. / Review

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