School of Engineering
Department of Electrical, Electronic and Computer
Engineering
Control Systems EBB320
Lecturer: Prof IK Craig
Last revision: 2017-07-30
Study Manual: Control Systems EBB 320, Second Semester 2017
Table of Contents
ORGANISATIONAL COMPONENT
3
1
GENERAL PREMISE AND EDUCATIONAL APPROACH
3
2
HEAD OF UNDERGRADUATE STUDIES
3
2
LECTURERS
4
3
STUDY MATERIALS AND PURCHASES
4
4
5
LEARNING ACTIVITIES
4.1
Contact time and learning hours
4.3
Assignments
4.4
Laboratory work
RULES OF ASSESSMENT
4
4
4
5
5
STUDY COMPONENT
6
1
6
6
6
2
3
MODULE OBJECTIVES, ARTICULATION AND LEARNING OUTCOMES
1.1
General objectives
1.2
Critical learning outcomes
MODULE STRUCTURE
STUDY THEME DESCRIPTIONS
3.1
STUDY THEME 1: Introduction to control systems engineering
3.2
STUDY THEME 2: Models of linear time-invariant systems: Transfer functions of physical systems
3.3
STUDY THEME 3: Models of linear time-invariant systems: State equations for physical systems
3.4
STUDY THEME 4: Transient response
3.5
STUDY THEME 5: Equivalent systems
3.6
STUDY THEME 6: Transient response stability
3.7
STUDY THEME 7: Forced response errors
3.8
STUDY THEME 8: Root locus
3.9
STUDY THEME 9: Root locus design
3.10
STUDY THEME 10: Sinusoidal tools
3.11
STUDY THEME 11: Design using sinusoidal tools
8
9
9
9
10
10
10
11
11
12
12
13
13
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Study Manual: Control Systems EBB 320, Second Semester 2017
ORGANISATIONAL COMPONENT
1. GENERAL PREMISE AND EDUCATIONAL APPROACH
The objective of the course is to familiarize the student with standard control system engineering
concepts. The focus will be on the analysis and design of single-input-single-output (SISO) feedback
systems. The basic analysis and design tools will be studied using both a frequency- and time-domain
approach.
It is important for students to develop a realistic view of what control engineering is all about.
Exercises will also be used to give students a practical feel for some of the issues discussed in class.
Students are expected to prepare the indicated material for the week in question. This preparation
includes doing the assigned exercises from the text on an individual basis. Experience has shown that
students who fall behind on their weekly preparation and do not do the homework, perform badly in
the tests and the exam. You will be afforded the opportunity to share you homework answers with the
rest of the class. Selected homework problems may be graded and may contribute towards the
semester mark. To help you prepare for the semester tests, two class tests will be written, one before
each semester test.
The practicals are important as they allow students the opportunity to become acquainted with
concepts described in class. This work is to be completed in assigned groups, and it is very important
that each group member has a thorough understanding of the work covered, as the exam and tests will
focus thereon. The practicals will be graded and will contribute to the semester mark as indicated.
2. HEAD OF UNDERGRADUATE STUDIES
The head of undergraduate studies is responsible for all aspects related to the day-to-day operation and
management of undergraduate matters.
2.1 Academic
Prof Tania Hanekom
Email: tania.hanekom@up.ac.za
For appointments, kindly visit the Communication page on the EECE Undergraduate ClickUP module.
2.2 Administrative
Ms Cornel Freislich
Tel: 012 420 3735
Email: cornel.freislich@up.ac.za
Office: Engineering 1, office 15-, University of Pretoria Main Campus
Ms Gawa Pritchard
Tel: 012 420 2775
Email: gawa.pritchard@up.ac.za
Office: Engineering 3, office 7-19, University of Pretoria Main Campus
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Study Manual: Control Systems EBB 320, Second Semester 2017
3. LECTURERS
Name
Lecturers
Prof. I.K.Craig
Room No.
and Building
Eng 1, 14-21
Teaching
Assistants
Secretary
Malcolm Sande
Duayne Strydom
Mrs. Marcia Ndala
Eng 3, 7-14
Eng 2, 1-8
Eng 1, 14-8
Telephone No.
and E-mail Address
012 420 2172
ian.craig@up.ac.za
malcolm.sande@gmail.com
DuayneStrydom@tuks.co.za
012 420 6470
marcia.ndala@up.ac.za
4. STUDY MATERIALS AND PURCHASES
Prescribed text book:
Norman S. Nise, Control Systems Engineering, 6th Ed., 2011, John Wiley & Sons.
This book will be used extensively and it is compulsory that each student obtains a copy. It should be
used in conjunction with the accompanying electronic resources.
Additional references:
Albertos, P. and Mareels, I., Feedback and control for everyone, 2009, Springer.
D’Azzo, J.J., and Houpis, C.H., Linear control system analysis and design-conventional and modern,
4th Ed., 1995, McGraw-Hill series in electrical engineering, McGraw-Hill.
Dorf, R.C. and Bishop, R.H., Modern Control Systems, 11th Ed., 2008, Prentice Hall.
Furuta, K., Sano, A. and Atherton, D., State variable methods in automatic control, 1988, John Wiley
& Sons.
Goodwin, G.C., Graebe, S.F., Salgado, M.E., Control System Design, 2001, Prentice Hall.
Kuo, B.J., Golnaraghi, F., Automatic Control Systems, 8th Ed., 2003, John Wiley & Sons.
Nagrath, I.J. and Gopal, M., Control System Engineering, 2nd Ed., 1990, John Wiley & Sons.
Nise, N.S., Control Systems Engineering, 3rd Ed., 2000, John Wiley & Sons.
Reid, J.G., Linear Systems Fundamentals, 1983, McGraw Hill.
5. LEARNING ACTIVITIES
5.1 Contact time and learning hours
Number of lectures per week: 4 (one lecture per week will be used to discuss assignments)
Laboratory work: Three experiments of three hours each.
This module carries a weighting of 16 credits, indicating that on average a student should spend some
160 hours to master the required skills (including time for preparation for tests and examinations).
This means that on average you should devote some 10 hours of study time per week to this module.
The scheduled contact time is approximately 4 hours per week, which means that at least another 4
hours per week of own study time should be devoted to the module.
5.2 Assignments
Assignments will consist of exercises from the prescribed text and will be discussed in class. All
assignments must be handed in by the due date, but only selected assignments and assignment
problems may be marked and incorporated in the semester mark. No late submissions will be
accepted.
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Study Manual: Control Systems EBB 320, Second Semester 2017
5.3 Laboratory work
General: Information on the practicals will appear on the module website after the commencement of
the semester.
Laboratory groups and sessions: Students will be allocated to groups and their group allocation will
be given on the module web site. The onus is on each student to find out his/her particular group
allocation. Each student must perform a total of three experiments. A timetable that must be
consulted is posted on the module website.
Just one report, written in English, has to be handed in per group. These reports must adhere to
departmental guidelines for group reports.
Rules and requirements: An additional requirement for a pass in this module is a subminimum of
50% for the laboratory work and attendance of all scheduled laboratory sessions. The laboratory mark
is compiled from the laboratory report plus the laboratory demonstration. Furthermore, the laboratory
mark accounts for 10% of the semester mark.
6. RULES OF ASSESSMENT
Also see the examination regulations in the Year Books of the Faculty of Engineering, Built
Environment and Information Technology (Part 1: Engineering, or Part 2: Built Environment and
Information Technology).
For examination admission, a semester mark of 40% is required as well as a subminimum of 50% for
the laboratory work and attendance of all scheduled laboratory sessions.
Pass requirements: In order to pass the module a student must
1
obtain a final mark of at least 50%.
and
2.
obtain a subminimum of 50% for the laboratory work and also attend the laboratory sessions.
Calculation of the final mark: The final mark is calculated as follows:
Semester mark:
50%
Examination mark:
50% (The final examination takes three hours.)
Calculation of the semester mark The semester mark is compiled as follows:
Semester tests:
80%
Laboratory work:
10%
Assignments and class tests
10%
Semester tests. Two tests of 90 minutes each will be written during the scheduled test weeks of the
School of Engineering. Dates, times and venues will be announced as soon as the timetables become
available.
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Study Manual: Control Systems EBB 320, Second Semester 2017
STUDY COMPONENT
1
1.1
MODULE OBJECTIVES, ARTICULATION AND LEARNING OUTCOMES
General objectives
The purpose of this module is to familiarize the student with control system design concepts. The field
of automatic control provides the tools that are used to design systems that can automatically maintain
performance by adjusting to changes in the environment. The use of control systems in modern
society has become so widespread that we simply cannot perform effectively without them. Control
systems are used in the production of almost anything you can think of e.g. electricity, fuel, motor
vehicles; in transportations systems such as airplanes and motor vehicles; in disk drives and mobile
phones; in communication networks; etc.
Control systems as an enabling technology therefore has a huge impact on modern society, and it is
especially important for engineering students to have a firm grasp of control system design concepts.
In the study of this module, skills are developed which will enable the learner to:
• understand the fundamental concept of feedback, and its use in control systems design;
• analyse single-input-single-output (SISO) feedback control systems;
• synthesize SISO controllers;
• understand the fundamental limitations in SISO control systems;
1.2
Critical learning outcomes
The programs presented by the Department of Electrical, Electronic and Computer Engineering have
been designed to meet the eleven ECSA outcomes that qualify the competencies required by
professional engineers. While most modules contain at least a small component of a number of ECSA
outcomes, only the main outcomes that are addressed in a module are indicated for the specific
module.
This module is presented at the developmental level for outcomes 1 and 2. Refer to the general study
guide (Part 1) for a complete overview of the association of ECSA outcomes with the modules in each
degree program. The following ECSA developmental-level outcomes are addressed in the module, i.e.
at the conclusion of this module the student will be able to:
1.2.1 Developmental level outcome 1: Problem solving
Learning outcome: Demonstrate competence to identify, assess, formulate and solve convergent and
divergent engineering problems creatively and innovatively.
Associated Assessment Criteria
The candidate applies in a number of varied instances, a systematic problem solving method
including:
1. Analyses and defines the problem, identifies the criteria for an acceptable solution;
2. Identifies necessary information and applicable engineering and other knowledge and skills;
3. Generates and formulates possible approaches for the solution of problems;
4. Models and analyses possible solution(s);
5. Evaluates possible solutions and selects best solution;
6. Formulates and presents the solution in an appropriate form.
The competency of the candidate to successfully solve problems according to the criteria above is
assessed using
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Study Manual: Control Systems EBB 320, Second Semester 2017
•
•
•
•
practical assignments where application of theory is extended to practical control problem
solving,
tutorial assignments (approximately ten) where students tackle typical control problems,
two semester tests covering the relevant material,
an examination of the material presented in the course where specific problems have to be
addressed
1.2.2 Developmental level outcome 2: Application of scientific and engineering knowledge
Learning outcome: Demonstrate competence to apply knowledge of mathematics, basic science and
engineering sciences from first principles to solve engineering problems.
Associated Assessment Criteria
The candidate:
1. Brings mathematical, numerical analysis and statistical knowledge and methods to bear on
engineering problems by using an appropriate mix of:
a) Formal analysis and modelling of engineering components, systems or processes;
b) Communicating concepts, ideas and theories with the aid of mathematics;
c) Reasoning about and conceptualising engineering components, systems or processes
using mathematical concepts;
2. Uses physical laws and knowledge of the physical world as a foundation for the engineering
sciences and the solution of engineering problems by an appropriate mix of:
a) Formal analysis and modelling of engineering components, systems or processes using
principles and knowledge of the basic sciences;
b) Reasoning about and conceptualising engineering problems, components, systems or
processes using principles of the basic sciences.
3. Uses the techniques, principles and laws of engineering science at a fundamental level and in at
least one specialist area to:
a) Work across engineering disciplinary boundaries through cross disciplinary literacy and
shared fundamental knowledge.
The competency of the candidate to successfully apply scientific and engineering knowledge according
to the criteria above is assessed using
• tutorial assignments (approximately ten) where students tackle typical control problems,
• two semester tests covering the relevant material,
• an examination of the material presented in the course where specific problems have to be
addressed
• practical assignments where application of theory is extended to practical control problem
solving,
• an examination of the material presented in the course where specific problems have to be
addressed
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Study Manual: Control Systems EBB 320, Second Semester 2017
2
MODULE STRUCTURE
Study-themes
Sources
Methods
Study
hours
1
Contact
Sessions
1
0. Introduction, rules and
expectations
1. Introduction to control
systems engineering
2. Models of linear timeinvariant systems: Transfer
functions of physical systems
3. Models of linear timeinvariant systems: State
equations for physical systems
4. Transient response
Studyguide
Lecture
Nise Chapter 1
Lectures, assignments,
tutor class
Lectures, assignments,
tutor class
5
1
18
4
Nise Chapter 3
Lectures, assignments,
tutor class
16
3
Nise Chapter 4
9
3
5. Equivalent systems
Nise Chapter 5
9
3
6. Transient response stability
Nise Chapter 6
12
3
7. Forced response errors
Nise Chapter 7
8
2
8. Root locus
Nise Chapter 8
15
3
9. Root locus design
Nise Chapter 9
15
3
10. Sinusoidal tools
Nise Chapter 10
15
3
11. Design using sinusoidal
tools
Practicals
Nise Chapter 11
Lectures, assignments,
tutor class
Lectures, assignments,
tutor class
Lectures, assignments,
tutor class
Lectures, assignments,
tutor class
Lectures, assignments,
tutor class
Lectures, assignments,
tutor class
Lectures, assignments,
tutor class
Lectures, assignments,
tutor class
Practicals and reports
15
3
22
160
3*3
41
Nise Chapter 2
Note: The notional hours include the contact time, as well as the estimated time to be allocated for
self-study, preparation of assignments and preparation for tests and the examination.
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Study Manual: Control Systems EBB 320, Second Semester 2017
3
STUDY THEME DESCRIPTIONS
3.1 STUDY THEME 1: Introduction to control systems engineering
3.1.1 Learning outcomes
At the end of this study theme, the student will be able to describe qualitatively how a control system
works as well as how to define performance criteria that are the basis for control systems analysis and
design.
3.1.2 Study units
Chapter 1 in Nise (2011).
3.1.3 Self-study activities
See the module web site for announcements regarding further self-study material.
3.1.4 Extra material
The module web site will provide more material if required as deemed necessary by the lecturer.
3.1.5 Assignments for assessment
Assignments will be given on the module web site.
3.1.6 Criteria of assessment
At the end of this study theme, a student must be able to perform tasks as outlined in section 3.1.1.
3.2
STUDY THEME 2: Models of linear time-invariant systems: Transfer functions of
physical systems
3.2.1 Learning outcomes
At the end of this study theme, the student will be able to find a mathematical model in the form of a
transfer function for linear time-invariant electrical, mechanical and electromechanical systems.
Students will also be able to linearize a nonlinear system in order to find a transfer function.
3.2.2 Study units
Chapter 2 in Nise (2011) and see Linear Systems ELI 220 or equivalent text book (e.g. Carlson).
3.2.3 Self-study activities
Review Laplace transforms and theorems in Nise (2011) and e.g. Carlson. See the module web site for
announcements regarding further self-study material.
3.2.4 Extra material
The module web site will provide more material if required as deemed necessary by the lecturer.
3.2.5 Assignments for assessment
Assignments will be given on the module web site.
3.2.6 Criteria of assessment
At the end of this study theme, a student must be able to perform tasks as outlined in section 3.2.1.
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Study Manual: Control Systems EBB 320, Second Semester 2017
3.3
STUDY THEME 3: Models of linear time-invariant systems: State equations for physical
systems
3.3.1 Learning outcomes
At the end of this study theme, the student will be able to find a mathematical model in the form of a
state-space representation, for a linear, time-invariant system. Students will also be able to convert
between transfer function and state-space models and be able to linearize state-space models.
3.3.2 Study units
Chapter 2 in Nise (2011).
3.3.3 Self-study activities
Appendix F in Nise (2011). See the module web site for announcements regarding further self-study
material.
3.3.4 Extra material
The module web site will provide more material if required as deemed necessary by the lecturer.
3.3.5 Assignments for assessment
Assignments will be given on the module web site.
3.3.6 Criteria of assessment
At the end of this study theme, a student must be able to perform tasks as outlined in section 3.3.1.
3.4 STUDY THEME 4: Transient response
3.4.1 Learning outcomes
At the end of this study theme, the student will be able to find the time response from a transfer
function; be able to use poles and zeros to determine the response of a control system; describe
quantitatively the transient response of first- and second-order systems; approximate higher order
systems as first or second order; to view the effects of nonlinearities on the system time response; and
to find the time response from a state-space representation.
3.4.2 Study units
Chapter 4 in Nise (2011).
3.4.3 Self-study activities
See the module web site for announcements regarding further self-study material.
3.4.4 Extra material
The module web site will provide more material if required as deemed necessary by the lecturer.
3.4.5 Assignments for assessment
Assignments will be given on the module web site.
3.4.6 Criteria of assessment
At the end of this study theme, a student must be able to perform tasks as outlined in section 3.4.1.
3.5 STUDY THEME 5: Equivalent systems
3.5.1 Learning outcomes
At the end of this study theme, the student will be able to reduce a block diagram of multiple
subsystems to a single block representing the transfer function from input to output; analyze and
design transient response for a system consisting of multiple subsystems; represent in state space a
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Study Manual: Control Systems EBB 320, Second Semester 2017
system consisting of multiple subsystems; convert between alternate representations of a system in
state space.
3.5.2 Study units
Chapter 5 in Nise (2011).
3.5.3 Self-study activities
See the module web site for announcements regarding further self-study material.
3.5.4 Extra material
The module web site will provide more material if required as deemed necessary by the lecturer.
3.5.5 Assignments for assessment
Assignments will be given on the module web site.
3.5.6 Criteria of assessment
At the end of this study theme, a student must be able to perform tasks as outlined in section 3.5.1.
3.6 STUDY THEME 6: Transient response stability
3.6.1 Learning outcomes
At the end of this study theme, the student will be able to determine the stability of a system
represented as a transfer function; determine the stability of a system represented in state space;
determine system parameters to yield stability.
3.6.2 Study units
Chapter 6 in Nise (2011).
3.6.3 Self-study activities
See the module web site for announcements regarding further self-study material.
3.6.4 Extra material
The module web site will provide more material if required as deemed necessary by the lecturer.
3.6.5 Assignments for assessment
Assignments will be given on the module web site.
3.6.6 Criteria of assessment
At the end of this study theme, a student must be able to perform tasks as outlined in section 3.6.1.
3.7 STUDY THEME 7: Forced response errors
3.7.1 Learning outcomes
At the end of this study theme, the student will be able to find the steady-state error for a feedback
system; specify a system’s steady-state error for disturbance inputs; design system parameters to meet
steady-state error performance specifications; find the steady-state error for systems represented in
state space.
3.7.2 Study units
Chapter 7 in Nise (2011).
3.7.3 Self-study activities
See the module web site for announcements regarding further self-study material.
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Study Manual: Control Systems EBB 320, Second Semester 2017
3.7.4 Extra material
The module web site will provide more material if required as deemed necessary by the lecturer.
3.7.5 Assignments for assessment
Assignments will be given on the module web site.
3.7.6 Criteria of assessment
At the end of this study theme, a student must be able to perform tasks as outlined in section 3.7.1.
3.8 STUDY THEME 8: Root locus
3.8.1 Learning outcomes
At the end of this study theme, the student will be able to define a root locus; sketch a root locus; use
the root locus to find the poles of a closed-loop system; use the root locus to describe qualitatively the
changes in transient response and stability of a system as a system parameter is varied; use the root
locus to design a parameter value to meet a transient response specification for systems of order 2 or
higher.
3.8.2 Study units
Chapter 8 in Nise (2011).
3.8.3 Self-study activities
See the module web site for announcements regarding further self-study material.
3.8.4 Extra material
The module web site will provide more material if required as deemed necessary by the lecturer.
3.8.5 Assignments for assessment
Assignments will be given on the module web site.
3.8.6 Criteria of assessment
At the end of this study theme, a student must be able to perform tasks as outlined in section 3.8.1.
3.9 STUDY THEME 9: Root locus design
3.9.1 Learning outcomes
At the end of this study theme, the student will be able to use the root locus to design cascade and
feedback compensators to improve the steady-state error and/or transient response; realize the designed
compensators physically.
3.9.2 Study units
Chapter 9 in Nise (2011).
3.9.3 Self-study activities
See the module web site for announcements regarding further self-study material.
3.9.4 Extra material
The module web site will provide more material if required as deemed necessary by the lecturer.
3.9.5 Assignments for assessment
Assignments will be given on the module web site.
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Study Manual: Control Systems EBB 320, Second Semester 2017
3.9.6 Criteria of assessment
At the end of this study theme, a student must be able to perform tasks as outlined in section 3.9.1.
3.10 STUDY THEME 10: Sinusoidal tools
3.10.1 Learning outcomes
At the end of this study theme, the student will be able to define a frequency response in terms of Bode
and Nyquist plots; plot a frequency response; use the frequency response to analyze stability; use the
frequency response to analyze a system’s transient response and steady-state error response; use the
frequency response to design the gain to meet stability specifications.
3.10.2 Study units
Chapters 10 in Nise (2011).
3.10.3 Self-study activities
See the module web site for announcements regarding further self-study material.
3.10.4 Extra material
The module web site will provide more material if required as deemed necessary by the lecturer.
3.10.5 Assignments for assessment
Assignments will be given on the module web site.
3.10.6 Criteria of assessment
At the end of this study theme, a student must be able to perform tasks as outlined in section 3.10.1.
3.11 STUDY THEME 11: Design using sinusoidal tools
3.11.1 Learning outcomes
At the end of this study theme, the student will be able to use frequency response techniques to design
cascade and feedback compensators to improve the steady-state error and/or transient response.
3.11.2 Study units
Chapter 11 in Nise (2011).
3.11.3 Self-study activities
See the module web site for announcements regarding further self-study material.
3.11.4 Extra material
The module web site will provide more material if required as deemed necessary by the lecturer.
3.11.5 Assignments for assessment
Assignments will be given on the module web site.
3.11.6 Criteria of assessment
At the end of this study theme, a student must be able to perform tasks as outlined in section 3.11.1.
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