Pre-Requisite: MAE315 or MAE361
Fall 2021 Schedule: MW 11:45 AM to 1:00 PM in EB2 01021
Textbook: Modern Control
Engineering, by Katsuhiko Ogata. Any recent edition is acceptable, and 5th edition is recommended.
Slides: See below.
Recordings: https://ncsu.hosted.panopto.com/Panopto/Pages/Sessions/List.aspx#folderID=2f11d18c-7302-4bec-8d62-ad8000ef48b0
Course Description:
Model development with applications to mechanical engineering systems. First and higher order system
responses. Laplace transform, transfer functions and block diagrams. Frequency response and vibration.
Introduction to feedback control. Concepts of PID control, tuning and compensation. Routh-Hurwitz stability.
Control analysis and design using various graphical methods such as root locus, Bode diagram.
Course Outcomes:
To provide students with practical design skills and tools for the synthesis of engineering control systems.
Grading Scheme:
| Midterm exam (1) |
25% |
| Homework1 (5) |
30% |
| Design projects (2) |
20% |
| Final exam |
25% |
1Two lowest scores dropped; late homework not accepted! Project report 2 = 2 HWs.
Class Schedule:
| |
Week |
Monday |
Wednesday |
Optional text read |
Deadline |
| Modeling |
| 1. Aug. 16, 18 |
Course Overview (PPT, PDF) |
Project: Simulink Introduction (PPT, PDF, Supp material) |
1.1-1.5 |
- |
| 2. Aug. 23, 25 |
Basics of Laplace Transforms and PID Control (PPT, PDF) |
Laplace Transform (PPT, PDF) |
- |
- |
| 3. Aug. 30, Sep. 2 |
Transfer Function |
Mechanical System Modeling |
2.1, 2.2 |
- |
| 4. Sep. 8 |
No class (Labor Day) |
Project: Simulink Introduction Part II |
3.1, 3.2 |
|
| 5. Sep. 13, 15 |
Electrical System Modeling |
Electromechanical System Modeling |
3.4 |
- |
| 6. Sep. 20, 22 |
Control Block Diagram and Signal Flow Graph |
Control Block Diagram and Signal Flow Graph |
2.3-2.5 |
HW 1: 9/22 |
| Analysis |
| 7. Sep. 27, 29 |
Time-Domain Analysis (1st order system) |
Time-Domain Analysis (2nd order system) |
5.1-5.8 |
|
| 8. Oct. 6, 8 |
Frequency Domain Analysis |
Poles and Zeros |
5.1-5.8 |
- |
| 9. Oct. 11, 13 |
No class (Fall break) |
Root Locus and Stability Analysis |
6.2 |
- |
| 10. Oct. 18, 20 |
Midterm |
Bode Diagram: Concept |
7.1 |
|
| 11. Oct. 25, 27 |
Bode Diagram: Gain and Phase Margin |
Bode Diagram: Stability Criterion |
7.2-7.6 |
- |
| 12. Nov. 1, 3 |
Bode Diagram: Design and Control |
Project: Robot Modeling |
7.7-7.8 |
|
| Control |
| 13. Nov. 8, 10 |
Lead Compensation Control (PD control) |
Project: Robot System Simulation Implementation |
6.6 |
|
| 14. Nov. 15, 17 |
Lag Compensation Control (PI control) |
Lead-Lag Compensation Control (PID control) |
6.7 |
- |
| 15. Nov. 22 |
PID Control |
No class (Thanksgiving Day) |
8.2, 8.5 |
- |
| 16. Nov. 29 |
Project : Control of Robot (Last Day of Class) |
No class |
- |
|
| 17. Dec. 6 |
Final Exam |
No class |
- |
- |