The number of undergraduate students, 2015-16 school year.
This is a first course in feedback control of dynamic systems. A design-oriented approach is stressed. Computer-based analysis, combined with a modern accompanying laboratory, provide a realistic setting for mastering several important design methodologies. Concurrent development of basic concepts in lecture and homework provides a foundation for continued study of advanced topics and newly emerging methods. Students come from a wide range of disciplines since control is an interdisciplinary topic.
A. Modeling and dynamic response. After approximately 10-12 lecture hours, the student should:
1. be able to develop models (differential equations, state space, transfer functions) for a variety of dynamic physical systems (mechanical, electrical, electromechanical, fluid, thermal). (a, e, k, m)
3. have a good understanding of the response characteristics of basic first- and second-order dynamic systems. Be able to correlate time-domain responses with transfer-function pole and zero locations. (a, k, m)
4. understand the use of block diagrams as a modeling tool. Be able to manipulate block diagrams for systems of interconnected components. (k)
6. understand steady-state error (tracking error and disturbance rejection), and be able to determine these errors from system block diagrams. As a design issue, be able to adjust controller gains to meet steady-state error specification. (c, e)
8. understand the role of feedback in obtaining stability and reducing tracking errors in the presence of plant uncertainties. (k)
B. Root Locus Design Technique. In the next set of about 6 lecture hours, the student should:
9. master the principles of the Root Locus Design Method. (k)
C. Frequency Response Design Methodology. After the next 12 lecture hours, the student should:
12. be able to correlate time responses, pole-zero locations, and frequency responses (Bode, Nyquist). (k)
D. State Space Design Methods. After the final 10-12 lecture hours, the student should:
5. Complete a capstone project requiring the design of controls for a challenging control system (e.g., an inverted pendulum, torsional vibration system, or robotic arm). Modeling, design, and simulation topics from the course are applied and unified. (a, b, c, d, e, g, i, k, m)