EE 340L Control Systems

Lecture Course
Schedule See Time Table Type, Core, 5th Semester Fall 2019
Semester

 Network Analysis
Pre-  Signals and Systems
Credit Hours Three + One
requisite  Differential Equations, Transform,
Linear Algebra.

Instructor(s) Engr. Maira Naz Contact [email protected]

1st Floor EE Office

Office TBA
Department Hours

Teaching Office
Assistant(s) Hours

Goal of this course is to familiarize students with the principles of linear control
systems. With a brief overview of signals and systems, concepts of analysis and
Course
design of continuous and discrete-time control systems will be discussed in
Description
detail. Input and output properties of systems will be discussed. Application to
engineering problems will be used to elaborate these concepts.
sMeasurableLearningOutcome

Domains & PLOs,

CLOs specifications.
Description 2 High
Levels Levels
Report the results of a given Complex PLO10
CLO1 Affective, 2
Engineering Problem/Lab assignments. Medium

Build a control system based on given Psychomotor, PLO1

CLO2

Material REQUIRED:
1. Lab Handouts

Lab Performance 50% CLO1

Grading
Complex Engineering Problem Part 1: 20% CLO1-CLO2
Policy
Complex Engineering Problem Part 2: 30% CLO1-CLO2
 Laboratory Plan
Laboratories Topics CLOs

1* Introduction to control system lab and control system software. CLO1

2* Modeling and Implementation of Physical System CLO1

Introduction to Simulink and Modeling of physical system – Mass

3* CLO1
Damper Spring System

4* Modeling of DC Motor CLO1

5* Modeling of Inverted Pendulum CLO1

6* Transient response analysis for First and Second Order Systems CLO1

7* Introduction to PID CLO1

Speed Measurement of DC Motor Using RPM Encoder and Open

8* CLO1, CLO2
Loop Analysis in STM Microcontroller

9* Speed Control of DC Motor using PID in STM Microcontroller CLO1, CLO2

10* Evaluation of Complex Engineering Problem part 1 CLO1, CLO2

PID implementation with Delta Tow Programmable Multi Axes

11* Controller CLO1

12* Introduction to LabVIEW CLO1

13* Implementation of Linear Control System using LabVIEW CLO1

Angle Measurement of Self-Balancing Robot Using Gyroscope and

14* Accelerometer CLO1, CLO2

15* Balancing of Robot on two wheels using Feedback mechanism CLO1, CLO2

16* Evaluation of Complex Engineering Problem Part 2 CLO1, CLO2

* - Tentative
 Laboratory Performance Rubrics
Good (8-10) Average (4-7) Bad (0-3)
Theoretical Results Equations have been All questions are not
Equations and analysis
in Report correctly derived, and answered. Mistakes
have been performed
(4 Marks) analysis has been and missing points
with some mistakes
CLO1 performed perfectly. have been found
Software Results No coding error Few coding errors All questions are not
in Report All questions are All questions have attempted
(4 Marks) answered correctly. been at least attempted Results are not
CLO1 Results are published. Results are published published
Bag place on bag
stand at start of Lab No Bag place on bag
Not talking and no use stand at start of Lab Misbehave with any
Discipline of mobile Whispering, Gossips, Lab staff, TA, GA and
(2 Marks) Proper conduct with and use of mobile, Teacher, Break Lab
Lab staff, TA, GA and break Lab Rules Rules
Teacher and follow
Lab Rules
Complex Engineering Problem
Title of Problem Self-Balancing Robot
Attributes of Problem Range of Resources, Familiarity and Level of interaction
->Control Systems
->Differential
EE 340L Control
Theory Equations Lab
Systems
-> Linear Algebra
-> Signal & Systems
Brief Description of Students are supposed to balance vehicle that can balance itself on two
Problem wheels with small steady state error and settling time

Part 1 – Speed Control of DC Motor (20 Marks):

 Report 3 Marks (CLO1)
 Hardware Viva 5 Marks (CLO2)
 Software Viva 5 Marks (CLO2)
 Wiring 2 Marks (CLO2)
 Working 5 Marks (CLO2)
Grading Policy
Part 2 – Self Balancing Robot (30 Marks):
 Report 6 Marks (CLO1)
 Hardware Viva 6 Marks (CLO2)
 Software Viva 6 Marks (CLO2)
 Wiring 6 Marks (CLO2)
 Working 6 Marks (CLO2)

 Attach three reports with good, average and worst

Attachment  Attach Mark sheet of Complex Engineering Problem based on
Evaluation Rubrics

Complex Engineering Details

• Students are supposed to balance vehicle that can balance itself on two wheels with
small steady state error and settling time. Specific chassis will be utilized
 Chassis and follow the line.
link: http://www.electronicspro.com.pk/product/2wheel-round-robot-car-chassis/
• MPU6050 will be utilized for Gyroscope and accelerometer value
Link: http://www.electronicspro.com.pk/product/mpu6050-gy-521-3-axis-analog-
gyro-sensor/
• It is mandatory to physically isolate motor circuit from STM board using optocouplers
and use two independent batteries. (One for STM board and other for Motor circuit)
• Complimentary filters will be used in angle calculation.
• Veroboard and PCB circuits will be encouraged.

• https://circuitdigest.com/microcontroller-projects/arduino-based-self-balancing-robot

• https://www.instructables.com/id/2-Wheel-Self-Balancing-Robot-by-using-Arduino-and-/

Complex Engineering Problem Rubrics

Part 1: Servo Motor

Good (8-10) Average (4-7) Bad (0-3)

Latex not used
References properly
Latex Used
added in IEEE Format
References properly
Report Template has not been
added in IEEE Format If any section is
(3 Marks) followed and
Template has been missing.
CLO1 formatting is not
followed with all
properly done but all
required sections.
sections have been
covered
Hardware Viva
(5 Marks) 100% answer rate. 60-90% answer rate 0-50% answer rate
CLO2
Software Viva
60-90%
(5 Marks) 100% Understanding. 0-50% Understanding
Understanding
CLO2
Perfectly STM and Poor STM and motor
Hardware Setup and
motor setup setup Wrongly IR Encoder
Wiring
Perfect IR encoder Poor IR encoder hardware
(2 Marks)
hardware hardware Wrong wiring
CLO2
Clean wiring Poor wiring
Motor speed follow
Motor speed follow
desire value
Working desire value
Large Motor speed won’t
(5 Marks) Small overshoot,
overshoot/Settling follow desire value
CLO2 Settling time and
time/Steady State error
Steady State error

Part 2: Self Balancing Robot

Good (8-10) Average (4-7) Bad (0-3)

Latex Used Latex not used
References properly References properly
Report
added in IEEE Format added in IEEE Format If any section is
(6 Marks)
Template has been Template has not been missing.
CLO1
followed with all followed and
required sections. formatting is not
 properly done but all
sections have been
covered
Hardware Viva
(6 Marks) 100% answer rate. 60-90% answer rate 0-50% answer rate
CLO2
Software Viva
60-90%
(6 Marks) 100% Understanding. 0-50% Understanding
Understanding
CLO2
Separate batteries are
Separate batteries used
used for STM and
for STM and Motor
Hardware Setup and Motor Wrongly hardware
Perfectly hardware
Wiring Perfectly hardware assembled
assembled
(6 Marks) assembled Wrongly Angle
Clean wiring
CLO2 Poor wiring measurement.
Correctly Angle
Correctly Angle
measurement
measurement
Perfectly working on Perfect working on
Floor door mat
Hardware Working (6 Vobbling on floor but Vobbling on door mat
Marks) not fall but not fall Vobbling and fall
CLO2 May not Resist May not resist
disturbance disturbance, Don’t
Follow the Line follow the line