Overview

Description

CALENDAR DESCRIPTION:

Fundamentals of feedback control system design and analysis, including practical and theoretical aspects. Significant lab component in which students design controllers and evaluate their robustness to modeling errors and nonlinearities. Students with credit for ENSC 383 or MSE 381 may not take this course for further credit.

COURSE DETAILS:

Subjects and Topics

• Overview of Control Systems
• Control system classes
• Open- vs Closed-loop systems
• Components of a feedback control system
• Control system design process
• System Modeling
• Review of Laplace Transform theorems
• Finding a system Transfer Function
• System modeling diagrams
• Simplifying system block diagrams
• Dynamics of translational, rotational and combined mechanical systems
• Models of electric circuits
• Models of electromechanical systems
• System Response
• Poles and Zeros of a system
• Effect of pole locations on system stability and time domain response
• Time domain specifications
• Effect of system zeros and additional poles
• System Identification technique using experimental data
• System Stability Analysis
• System Analysis
• Feedback systems as Regulators and Trackers
• System Sensitivity
• System Type and steady state error
• Introduction to the 3-term controller PID as a practical controller
• Designing and tuning PID controllers for 1^st and 2^nd order systems
• Feedforward control by plant model inversion
• Design Methods
• Root-locus design method
  • Determining a systems Root-Locus
  • Designing lead/lag/notch dynamic compensators using the system root-locus
• Frequency Response design method
  • Bod plot techniques and Bode’s gain-phase relationship
  • PD/PI/PID/Lead/Lag Compensator design limitations
  • Time delayed systems

COURSE-LEVEL EDUCATIONAL GOALS:

Intended Learning Outcomes	CEAB Graduate Attributes*
Control System Fundamentals
1. Explain the different parts of a control system and characteristics of open- and closed-loop control systems	GA #1  D/A GA #2  D
2. Explain the relationship between a system's time domain response and the location of its poles and zeros	GA #1  D/A GA #2  D/A GA #3  D/A
System Modeling
3. Develop differential equations to mathematically model basic mechanical and electrical systems	GA #1  D/A GA #2  D/A GA #3  D GA #4  D
4. Linearize a nonlinear system or simplify a complex system as a starting point for developing a control system	GA #1  A GA #2  A GA #3  D GA #4  D/A
System Analysis
5. Assess the stability, stability margin, error, and sensitivity of open- and closed-loop control systems	GA #1  A GA #2  A GA #3  D/A GA #4  D
6. Analyze the response of feedback systems to impulse, step, ramp, and parabola inputs	GA #1  D/A GA #2  A GA #3  D/A
7. Determine the system type and the required controller to achieve stability, tracking, regulation, and noise rejection design requirements.	GA #1  A GA #2  A GA #3  D/A GA #4  D/A
Control System Design
8. Designing P, PD, PI, and PID controllers for 1st and 2nd order physical systems	GA #1  A GA #2  A GA #3  D/A GA #4  D/A
9. Design Lead, Lag, and/or Notch dynamic compensators using root-loci or frequency response design methods	GA #1  A GA #2  A GA #3  A GA #4  D/A
10. Given a complex real-world scenario, develop an appropriate control strategy and describe assumptions and limitations of the suggested approach.	GA #1  A GA #2  A GA #4  D
Use of Engineering Tools
11. Use software simulators, including MATLAB - Simulink and Quanser, for modeling, controller design, simulation, and analysis of the feedback system	GA #1  A GA #2  A GA #3  A GA #5  A
12. In a laboratory setting, safely design and test feedback control systems	GA #1  A GA #2  A GA #3  A GA #4  D/A GA #5  D/A

1. (*) Engineering Accreditation
2. The Canadian Engineering Accreditation Board (CEAB) requires students to be competent in twelve main areas by graduation, known as Graduate Attributes (GA). The GAs are provided and evaluated at three levels: Introduced (I), Developed (D), and Applied (A). The SEE course learning outcomes are mapped to the GAs to ensure students are educated and graduate with these attributes. The relevant GAs and their associated levels for this course are indicated after each list item in the Intended Learning Outcomes section above. Below is a list of CEAB GAs:
3. A knowledge base for engineering: Demonstrated competence in university-level mathematics, natural sciences, engineering fundamentals, and specialized engineering knowledge appropriate to the program.
4. Problem analysis: An ability to use appropriate knowledge and skills to identify, formulate, analyze, and solve complex engineering problems to reach substantiated conclusions.
5. Investigation: An ability to conduct investigations of complex problems by methods that include appropriate experiments, analysis and interpretation of data, and synthesis of information to reach valid conclusions.
6. Design: An ability to design solutions for complex, open-ended engineering problems and to design systems, components or processes that meet specified needs with appropriate attention to health and safety risks, applicable standards, and economic, environmental, cultural and societal considerations.
7. Use of engineering tools: An ability to create, select, apply, adapt, and extend appropriate techniques, resources, and modern engineering tools to a range of engineering activities, from simple to complex, with an understanding of the associated limitations.
8. Individual and teamwork: An ability to work effectively as a member and leader in teams, preferably in a multidisciplinary setting.
9. Communication skills: An ability to communicate complex engineering concepts within the profession and with society at large. Such ability includes reading, writing, speaking and listening, and the ability to comprehend and write effective reports and design documentation, and to give and effectively respond to clear instructions.
10. Professionalism: An understanding of the roles and responsibilities of the professional engineer in society, especially the primary role of protection of the public and the public interest.
11. Impact of engineering on society and the environment: An ability to analyze social and environmental aspects of engineering activities. Such ability includes an understanding of the interactions that engineering has with the economic, social, health, safety, legal, and cultural aspects of society, the uncertainties in the prediction of such interactions, and the concepts of sustainable design and development and environmental stewardship.
12. Ethics and equity: An ability to apply professional ethics, accountability, and equity.
13. Economics and project management: An ability to appropriately incorporate economics and business practices, including project, risk, and change management into the practice of engineering and to understand their limitations.
14. Life-long learning: An ability to identify and to address their own educational needs in a changing world in ways sufficient to maintain their competence and to allow them to contribute to the advancement of knowledge.

Grading

Materials

MATERIALS + SUPPLIES:

Dr. Mahda Jahromi's SEE342 - Feedback Control, Lecture Notes

Franklin, G.F. (2017). Feedback Control of Dynamic Systems (7th Ed). Pearson Inc. (Required)

Richard C. Dorf, Robert H. Bishop, Modern Control Systems – Pearson Prentice Hall

REQUIRED READING NOTES: