ME3__ System Dynamics & Controls

Credit:3/4
Prerequisite: Differential Equations, Linear Algebra
Students intended for: UG/MS
Elective or Core: Core Semester: Odd/Even
Course Objective: The objective of this course is to introduce students with fundamental concepts of modeling,
analysis, and design of linear control systems for physical systems. Students will be taught applying modelling
techniques to real physical systems and analyzing its performance and stability before building real systems.
Performance and stability analysis will be done in time and frequency domain which will allow student to build
linear controllers by applying classical and modern control techniques. Matlab/Simulink will be used to create
models and design of controllers.
Course Description: Modeling of mechanical, electrical, and electromechanical systems. Laplace Transform
techniques. Time response analysis. Block diagram representation. Feedback systems. Root locus method.
Frequency response techniques. State-space representation. Controller design.
Pre-requisites: Differential Equation, Linear Algebra
Learning Outcomes: In this course the student will develop and/or refine the following areas of knowledge:
• Introduction: Define a control system and describe some applications, historical developments leading to
modern day control theory, the basic features and configurations of control systems, describe control
systems analysis and design objectives, Describe a control system’s design process, describe the benefit
from studying control systems
• Representation of physical systems: Mathematical descriptions of systems by differential equations,
Laplace transform linear, time-invariant systems (mechanical, electrical, and electromechanical),
linearization of a nonlinear system to find the transfer function.
• Modeling in Time Domain: Developing state-space representation for a linear, time-invariant system,
conversion of a transfer function to state space and vice-versa, linearization a state-space representation.
• Time Response: Use poles and zeros of transfer functions to determine the time response of a control
system, quantitative description of the transient response of first-order systems, general response, damping
ratio, settling time, peak time, percent overshoot, and rise time and natural frequency of second-order
systems given the pole location, effects of nonlinearities on the system time response, time response from
the state-space representation
• Reduction of Multiple Subsystems: Reduction of a block diagram of multiple subsystems to a single block
representing the transfer function from input to output, analysis and design of transient response for a
system consisting of multiple subsystems, conversion of block diagrams to signal-flow diagrams, Mason’s
rule, representation of state equations as signal-flow graphs, representation of multiple subsystems in state
space in cascade, parallel, controller canonical, and observer canonical forms, transformations between
similar systems using transformation matrices; and diagonalize a system matrix.
• Stability: Making and interpreting Routh table to determine the stability of a system, Application of Routh
table to determine the stability of a system represented in state space.
• Steady-State Errors: Steady-state error for a unity feedback system, specifying a system’s steady-state error
performance, design the gain of a closed-loop system to meet a steady-state error specification, finding the
steady-state error for disturbance inputs, steady-state error for systems represented in state space.
• Root Locus Techniques: Properties of a root locus, sketching techniques of a root locus, use the root locus
to design a parameter value to meet a transient response specification for systems of order 2 and higher,
root locus for positive-feedback systems, root sensitivity for points along the root locus.
• Design via Root Locus: Use the root locus to design cascade compensators to improve the steady-state error
and the transient response, feedback compensators to improve the transient response, realize the designed
compensators physically
• Frequency Response Techniques: Define and plot the frequency response of a system, Plot asymptotic
approximations to the frequency response of a system, Sketch a Nyquist diagram, use the Nyquist criterion
to determine the stability of a system, Stability and gain and phase margins using Nyquist diagrams and
Bode plots, determine bandwidth, peak magnitude, and peak frequency of a closed-loop frequency
response given the closed-loop time response parameters of peak time, settling time, and percent
overshoot, closed-loop frequency response given the open-loop frequency response
• Design via Frequency Response: Use frequency response techniques to adjust the gain to meet a transient
response specification, frequency response techniques to design cascade compensators to improve both the
steady-state error and the transient response
• Design via State Space: State-feedback controller using pole placement for systems represented in phase-
variable form to meet transient response specifications, controllability, state-feedback controller using pole
placement for systems not represented in phase-variable form to meet transient response specifications,
state-feedback observer for systems represented in observer canonical form, observability, state-feedback
observer using pole placement for systems not represented in observer canonical form, Design steady-state
error characteristics for systems represented in state space.
Student Outcomes:
• An ability to apply knowledge of mathematics, science, and engineering.
• An ability to design a system, component, or process to meet desired needs within realistic constraints such
as economic, environmental, social, political, ethical, health and safety, manufacturability, and sustainability.
• An ability to identify, formulate, and solve engineering problems
• An ability to use the techniques, skills, and modern engineering tools necessary for engineering practice.
Professional Outcomes: The most measurable long-term outcome from this course is the student’s resulting
ability to identify, formulate and organize engineering problems in a conceptual form as well as in terms of
mathematical and physical models. Understanding control systems enables students from all branches of
engineering to speak a common language and develop an appreciation and working knowledge of the other
branches.
Suggested Books:
• System Dynamics, 4th Edition by Katsuhiko Ogata, Pearson Education
• Control Systems Engineering, 6th Ed. by N. S. Nise, Wiley
• Control Systems, Principle & Design, M. Gopal
• Feedback Control Systems, Franklin, Powell