EE443: INTERMEDIATE CONTROL THEORY

Fall 2001 Schedule: MWF 09:00am-09:50am in Speare 113

Instructor: Kevin Wedeward, Office: Workman 221, Phone: (505) 835-5708, email: wedeward@ee.nmt.edu, homepage: www.ee.nmt.edu/~wedeward/

Office Hours: MWThF 10:00am-11:00am and by appointment

Course Objectives: Develop an understanding of

• system modeling and simulation,
• characteristics, performance, and stability of control systems,
• and design and implementation of control systems.

Course Prerequisite: EE342 (Linear Systems II)

Topic Prerequisites:

1. Matrix algebra.
2. Linear constant-coefficient differential equations.
3. Laplace transform.
4. System dynamic responses.
5. Matlab.

Required Text: "Modern Control Systems, 9th ed." by Richard Dorf and Robert Bishop.

Topics:

1. Introduction to control systems. (Chapter 1)
2. Classical models of physical systems. (Chapter 2)
3. State-space models of linear systems. (Chapter 3)
4. Characteristics of linear feedback control systems. (Chapter 4)
5. Performance of linear feedback control systems. (Chapter 5)
6. Stability of linear feedback control systems. (Chapter 6)
7. Root locus approach to controller design. (Chapter 7)
8. Classical controller design. (Chapter 10)
9. State-space controller design. (Chapter 11)

1. Chapter 1.
2. Sections 2.1-2.6
3. Chapter 3
4. Chapter 4
5. Chapter 5
6. Chapter 6
7. Chapter 7
8. Chapter 11

Homework: Homework will be assigned, collected, and graded on a weekly basis. You are encouraged to work with other students as long as the written work turned in is your own.

1. HW1 due BOC W 08/29/01: E1.4, P1.1 (include disturbances), P1.10 (include disturbances), CDP1.1 (include disturbances), DP1.4 (include disturbances)
2. HW2 due BOC F 09/07/01: E2.2 (/\R=R-R(20) and /\T=T-20), E2.17, E2.20, E2.25, P2.2 (find DEs with and without gravitational forces, note how gravitational forces enter DEs and the effect of neglecting them), P2.3 (also find TF X1(2)/F(s)), P2.22a,b
3. HW3 due BOC M 09/10/01: P2.29, P2.36a,c,d, P2.45 (write motor shaft torque in terms of motor shaft speed), P2.50, CDP2.1 (model slide and drive bar as cylindrical shell?), MP2.4, MP2.6
4. HW4 due BOC F 09/28/01: E3.4, E3.10, E3.11, E3.16, E3.17 (note currents through inductors and voltages across capacitors are state variables in electrical circuits), P3.17, P3.18 (show how you would find transfer function by hand, then use matlab's ss2tf to compute), MP3.1c, MP3.6, MP3.7
5. HW5 due BOC W 10/03/01: E4.1, E4.6, E4.7a,b,d, AP4.6
6. HW6 due BOC W 10/17/01: E4.4 (cm is unit of distance), P4.5b,c, P4.6b,c, MP4.7
7. HW7 due BOC F 10/26/01: E5.5, E5.9, E5.12, E5.14 (compare OS,t_p, t_r), P5.2, DP5.1 (use K values in (b) for parts (c) and (d) also)
8. HW8 due BOC F 11/02/01: E6.1, E6.4, E6.21, P6.1e.g, MP6.6
9. HW9 due BOC F 11/09/01: E7.15, P7.26, P7.27, MP7.6 - for all problems: sketch root locus by hand and check with matlab
10. HW10 due BOC W 11/28/01: E11.3, E11.4, E11.5, AP11.2, AP11.3, AP11.4 - for all exercises (E's): find only controllability, then discuss result by looking at state equations

• Homework: 20%
• 2 Exams: 45%
• Final Exam/Project: 35%

Example M-files:

• Example 1: Matlab m-file example of model reduction and simulation for DC motor.
• Example 2: Matlab m-file example for simulating a pendulum using continuous-time and discrete-time state variable models.
• Example 3: Matlab m-file example of simulating a pendulum using the discrete-time approximation of the nonlinear model.
• Example 4: Matlab m-file example of plotting system poles for various controller gains.
• Example 5: Matlab m-file example of plotting root locus.
• Example 6: Matlab example of plotting root locus.
• Example 7: Matlab example of simulating state feedback control.
• Example 8: Matlab example of simulating state feedback control for step response.
• Example 9: Matlab example of simulating dynamic state feedback control.
• Example 10: Matlab example of simulating dynamic state feedback control.