ECEN 4138/5138, L. Pao
Syllabus
August 24, 2015
Control Systems Analysis
Fall 2015
MWF 12-12:50pm, ECCS 1B12
Content:
Modeling of dynamic systems using block diagrams and signal flow graphs. The importance
of feedback; analysis and design of feedback control systems using root locus, Bode, and
Nyquist methods. Introduction to the concept of state and state variable techniques.
Prerequisite:
ECEN 3300. Background in Laplace transforms, ordinary differential equations, complex
frequency, transfer functions, impulse response, convolution.
Instructor:
Prof. Lucy Pao
Office location: ECOT 350
Office phone: 303-492-2360
E-mail: pao@colorado.edu
Office Hours: MWF 1-1:30pm, Tuesdays 1:30-2:30pm, or by appointment
Grader:
Ashish Kumar
E-mail: ashish.kumar@colorado.edu
Text:
Franklin, Powell, and Emami-Naeini: Feedback Control of Dynamic Systems∗ , 7th ed., 2015
Copies of this book are available at the CU Book Store (www.cubookstore.com). Copies of
this book are also available through Amazon.
References:
Ogata: Modern Control Engineering∗
Dorf: Modern Control Systems∗
Kuo: Automatic Control Systems∗
Colgren: Basic MATLAB, Simulink, and Stateflow∗,†
D’Azzo, Houpis, & Sheldon: Linear Control System Analysis & Design with MATLAB†
∗
On 4-hour reserve in the Engineering, Math, Physics Library. Dorf is lower level and easier
to understand, useful for understanding concepts. Ogata is a higher level reference, better
on details.
†
Available on-line via libraries.colorado.edu when on the CU network (either on-campus
or via VPN).
Course URL:
learn.colorado.edu
All students registered in this course will automatically have access by logging in with your
IdentiKey account at this website. Nearly all lecture files and handouts will be posted on
this web site. Your scores on homeworks, exams, etc. that have been recorded will also
automatically be accessible to you.
Reading:
In the Tentative Schedule below, a reading assignment is indicated for each lecture. The
lectures are designed assuming that you have read the material before coming to class. In
general, I will not simply repeat the derivations in the book, but will rather expand upon
and demonstrate the consequences of the derivations.
Lecture Notes:
I last taught this course in Spring 2001 and only had handwritten notes then. With the help
of a student assistant, we are working to typeset a portion of these notes. They are still in
very rough form, and provide an approximate guide for what we will discuss in class. We
will fill in many details during class through what I hope are interactive discussions with
well-prepared students who have done the assigned readings.
1
Limited
hardcopies
provided:
Many of the handouts that will be posted to the course website will not be provided in
hardcopy form during class. As a courtesy, I will bring some hardcopies of selected handouts
(e.g., homework assignments and solutions) to distribute in class. In order not to waste
paper, if I notice that hardcopies are leftover, I will reduce the number of future hardcopies
that I bring to class. These are available to students on a first-come first-serve basis.
I have brought hardcopies of Lecture 1 only for today. Lecture notes for Lecture 2 and
onward will be made available electronically (usually more than 12 hours before each lecture)
on the course website to those students registered in the course. Because I will assume you
have these lecture notes with you at every lecture, I will not re-write items during class that
already appear in the notes.
Homework:
Problem sets due approximately every 1.5 weeks (due by 5pm on date due, unless otherwise
noted). Graded (more for overall effort than absolute correctness, but a random sample of
the problems will be checked in more detail). Working in groups is allowed and encouraged,
but each student is required to hand in his/her own homework.
Quizzes
and
Exams:
One
One
One
One
15-minute entrance quiz (on pre-requisite material)
25-minute quiz
50-minute in-class midterm
150-minute final exam
Quizzes are closed-book. Exams are also closed-book except that you are allowed to bring
one 8.5” × 11” sheet of handwritten notes (okay to write on both sides).
Only simple calculators are allowed. No graphing or programmable calculators and no
internet-enabled devices are allowed. (Basically, your calculator having addition, multiplication, subtraction, division, sin, cos, tan, ex , ln(x), and such functions are okay. You should
show all of your work on the quizzes and exams to convince me that you know what you are
doing. There should be no “magical” answers without showing your work.)
Additional
requirements of
ECEN 5138
students:
Students registered for ECEN 5138 will be expected to (1) attain a deeper understanding
of material and learn some additional material, and (2) to complete a project. To assess
(1), these students will need to complete additional problems on homeworks and quizzes and
exams; these problems will be clearly noted as required for ECEN 5138 students. Regarding
(2), a separate handout will be posted providing guidelines and expectations for the project.
Grading:
D2L pre-class participation and assessment§ , 5% (for 5138∗∗ , 3%)
Class attendance and participation§ , 2% (for 5138∗∗ , 1.5%)
Homework, 25% (for 5138∗∗ , 15%) (15% off for each day late; 30% off over a weekend‡ ;
solutions will be distributed one week after due date;
no homework accepted after solutions have been distributed.)
(Project, 15% for 5138∗∗ only)
Entrance Quiz, 5% (for 5138∗∗ , 3%)
Quiz, 8% (for 5138∗∗ , 7.5%)
Midterm, 20%
Final, 35 %
§
More on D2L pre-class participation and assessment and Class attendance and participation
is discussed on a separate handout.
‡
If you scan and email your homework to the Grader over the weekend less than 24 hours
after the deadline, you will be given 15% off.
∗∗
Because D2L only allows one weighting scheme for course scores, 5138 students will not see
their overall course score correctly on D2L. Component scores for each item (e.g., Entrance
Quiz, Homework 1, etc.) will be correct on D2L, but the composite course score will need to
be computed outside of D2L at the end of the semester.
2
Computing:
Use of MATLAB software with Simulink and the Signal Processing and Control Toolboxes will
be required for some homework problems. MATLAB with Simulink and the Signal Processing
and Control (and other) Toolboxes are available to students for free via a campus site license
(see www.colorado.edu/oit/software-hardware/site-licenses/matlab). The software
is also available in various Computer Labs around the Engineering Center and around campus.
ABET:
This course strives to provide the student with a variety of specific learning outcomes. These
include the student outcomes identified by ABET (Accreditation Board for Engineering
Technology), and adhered to by the ECEE department, related to the skills, knowledge, and
behaviors that students acquire as they progress through the program. The specific Student
Outcomes can be found at ecee.colorado.edu/academics/courses/criterion3.html
Honor Code:
It is expected that students will not give or receive unauthorized assistance on their
homeworks, labs, and exams. More information about the Honor Code can be found at
honorcode.colorado.edu .
Disability
Accommodations:
If you qualify for accommodations because of a disability, please submit a letter to me
from Disability Services within the first 3 weeks of the course so that your needs may be
addressed. Disability Services determines accommodations based on documented disabilities.
More information can be found at www.colorado.edu/disabilityservices .
Religious
Observances:
If you will have religious obligations that will conflict with scheduled exams or assignment
due dates, please inform me at least 3 weeks in advance so that we can discuss reasonable accommodations. In most cases, assignments will be posted well in advance to aid all
students in planning their time. Campus policy regarding religious observances are detailed at
www.colorado.edu/policies/observance-religious-holidays-and-absences-classes-andor-exams
Campus
Behavior:
Students and faculty each have responsibility for maintaining an appropriate learning
environment. Students who fail to adhere to behavioral standards may be subject to
discipline. Faculty have the professional responsibility to treat students with understanding,
dignity and respect, to guide classroom discussion and to set reasonable limits on the manner
in which students express opinions. See policies at
www.colorado.edu/policies/student-classroom-and-course-related-behavior
and at
www.colorado.edu/osc/sites/default/files/attached-files/osc_handbook_2015-16.pdf
.
Further, the University of Colorado policies on Discrimination and Harassment apply to all
students, staff, and faculty. More information can be found at
www.colorado.edu/institutionalequity/ .
Tentative Schedule
Lecture
1
2
3
Date
8/24
8/26
8/28
Topic
Start-up and overview of control
Laplace & Inv. Laplace Transforms
Modeling Mechanical Systems
Reading (chapter)
1
3.1, Appendix A
2.1
Entrance Quiz
4
5
6
8/31
9/2
9/4
Modeling Electrical Systems
Modeling Electromechanical Systems
Block Diagram Analysis
2.2
2.3–2.5
3.2
HW 1
7
8
9/7
9/9
9/11
Labor Day / No Classes
Dynamic Response
Transient Response
3.3
3.4
5138 Proj Sum
3
Assignment due / Quiz
Lecture
9
10
Date
9/14
9/16
9/18
Topic
Effect of Add’l Poles and Zeros
Stability & Modeling from Experiments
Catch up / Review of Selected Topics
Reading (chapter)
3.5
3.6–3.9
1–3
11
12
13
9/21
9/23
9/25
Feedback Control
System Type
Proportional and Derivative Control
4.1
4.2
4.3
14
15
16
9/28
9/30
10/2
Integral and PID Control
Model Inverse Feedforward Control
Root Locus Design Method
4.3
4.4–4.7
5.1–5.2
17
18
19
10/5
10/7
10/9
Root Locus Plotting Rules
Root Locus Examples
Root Locus Examples
5.2–5.3
5.3
5.3
HW 4
20
21
22
10/12
10/14
10/16
Lead and Lag Compensation
Root Locus Design and Extensions
Frequency Response
5.4
5.5–5.7
6.1
5138 Proj Prog Mtg
23
10/19
10/21
10/23
Bode Plots and Stability
Wrap Up and Review
Midterm Exam
6.2
1–6.2
1–6.2
24
25
26
10/26
10/28
10/30
Nyquist Plots and Stability
Bode and Nyquist Plots
Gain and Phase Margins
6.3, Appendix WA††
6.3
6.4-6.6
27
28
29
11/2
11/4
11/6
Lead and Lag Compensation
Design Considerations
Introduction to State Space
6.7
6.7–6.10
7.1, Appendix WB††
HW 6
30
31
32
11/9
11/11
11/13
State Equations
Block Diagrams and State Eqns
Poles and Zeros from State Eqns
7.2
7.3–7.4
7.4
5138 Proj Prog Rpt 2
33
34
11/16
11/18
11/20
State Feedback and Pole Placement
General Control System Design Principles
Catch up / Review of Selected Topics
7.5–7.6
10.1–10.2
1–7.6
11/23-27
Fall Break
11/30
12/2
12/4
Estimators
Combined Controller and Estimator
Intro of Reference Input w/ Estimator
12/7
12/9
12/11
5138 Project Presentations
5138 Project Presentations
5138 Project Presentations (and Review)
12/15
Final Exam (4:30-7pm)
35
36
37
7.7
7.8
7.9
Assignment due / Quiz
HW 2
Quiz
HW 3
5138 Proj Prog Rpt 1
HW 5 (by 12pm)
HW 7
5138 Final Proj Rpt
HW 8 (by 12pm)
1–7.9, 10.1–10.2
††
The indicated web appendices (listed in the Table of Contents in the course textbook) are also available in our
course D2L site.
4