Academic Year AY2017/18

Course Coordinator Prof Soh Yeng Chai

Course Code EE3011
Course Title Modelling and Control
Pre-requisites EE2006
No of AUs 3
Contact Hours On-line Lecture (26 hours); Tutorial (19.5 hours); Laboratory (3 hours)
Proposal Date 20 November 2017

Course Aims
The aim of this course is to serve as an introduction to control system analysis and design. The course
discusses pertinent issues related to control systems such as modelling; time and frequency responses of
dynamical systems; performance specifications and controller/compensator design. You will develop skills
and techniques for tackling practical control system analysis and design problems. This gives you important
background for later courses like Process Control, Digital Control, Robotics and Automation, and Power
Systems. The knowledge and skills learned in this course are used by professionals in the fields of
mechanical, electrical, fluid, chemical and biomedical engineering to describe and analyse the operation
and performance of associated and/or coupled systems.

Intended Learning Outcomes (ILO)

EE3011, Modelling and Control, serves as an introduction to control system analysis and design. By the end
of the course, you should be able to:

1. Describe the fundamental issues of control systems namely modelling; time and frequency responses of
dynamical systems; performance specifications, controller/compensator design, and their
interrelations.
2. Derive transfer function and block diagram representations of a control system, given the relevant
differential equations or experimental bode plots.
3. Evaluate and derive time and frequency domain performance indicators namely stability, relative
stability, stability margins, damping ratio, dominant response, disturbance attenuation, steady-state
errors and others, of control systems.
4. Design suitable PID controllers, lag/lead compensators to meet performance specifications.
5. Use relevant techniques to solve practical control system design problems.

Course Content
Introduction; System Modelling; Time Domain Analysis; Stability Analysis; Performance Specifications; PID
Controller Design; Root-Locus Analysis; Frequency Response; Bode Plot; Stability Margins; Nyquist Plot
and Stability; Lead and Lag Compensation; PID Tuning.

Assessment (includes both continuous and summative assessment)

1
 Related
Course
Programme LO or Team/ Assessment
Component LO Weighting
Graduate Individual rubrics
Tested
Attributes
1. Final Examination 1-5 EAB SLO a, b, c, d, e 60% Individual
2. Continuous
Assessment 1 (CA1): 4 1-4 EAB SLO a, b, c, d, e 30% Individual
quizzes
EAB SLO a, b, c, d, f,
3. CA2: Laboratory 3-5 10% Team
g, h, i, j, l
Total 100%

Formative feedback
You will receive feedback on your understanding based on:

1. Participation and discussions tutorial classes;

2. Quiz performance in terms of scores and answers;
3. Lab assessment;
4. Examination results;
5. Markers’ report on overall examination performance;

Learning and Teaching approach

Approach How does this approach support students in achieving the learning outcomes?
Through on-line lectures, you will learn the basic and important theories about
control systems and the various techniques that can be used to analyse and
LECTURE
modify the performance of control systems. You will also gain insights into
practical issues and considerations when dealing with control systems. (LO 1-5)
Tutorials are used to develop problem solving skills and competency in applying
TUTORIAL
the techniques and theories learned to solved specific control problems.
LABORATORY The laboratory is used to provide a practical illustration and verification of the
(if any) relevant analysis and design issues in control systems.

Reading and References

TEXTBOOK
1. Ogata Katsuhiko, Modern Control Engineering, 5th Edition, Prentice-Hall, 2010. (TJ213.G34 2010)

REFERENCES
1. Dorf Richard C and Bishop Robert H, Modern Control Systems, 13th Edition, Pearson Prentice Hall,
2011. (TJ216.D695 2017)
2. Kuo Benjamin C and Golnaraghi Farid, Automatic Control Systems, 10th Edition, John Wiley, 2010.

2
 (TJ213.K96 2017)

Course Policies and Student Responsibilities

(1) General
You are expected to complete all assigned pre-class readings and activities, attend all seminar classes
punctually and take all scheduled assignments and tests by due dates. You are expected to take
responsibility to follow up with course notes, assignments and course related announcements for seminar
sessions they have missed. You are expected to participate in all seminar discussions and activities.

(2) Absenteeism
OBTL requires you to be in class to contribute to team work. In-class activities make up a significant portion
of your course grade. Absence from class without a valid reason will affect your overall course grade. Valid
reasons include falling sick supported by a medical certificate and participation in NTU’s approved
activities supported by an excuse letter from the relevant bodies. There will be make-up opportunities for
quizzes only if you have valid reasons for the absence in main quizzes.

If you miss a seminar session, you must inform your team members and me via email (include email
address) prior to the start of the class.

Academic Integrity
Good academic work depends on honesty and ethical behaviour. The quality of your work as a student
relies on adhering to the principles of academic integrity and to the NTU Honour Code, a set of values
shared by the whole university community. Truth, Trust and Justice are at the core of NTU’s shared values.

As a student, it is important that you recognize your responsibilities in understanding and applying the
principles of academic integrity in all the work you do at NTU. Not knowing what is involved in maintaining
academic integrity does not excuse academic dishonesty. You need to actively equip yourself with
strategies to avoid all forms of academic dishonesty, including plagiarism, academic fraud, collusion and
cheating. If you are uncertain of the definitions of any of these terms, you should go to the academic
integrity website for more information. Consult your instructor(s) if you need any clarification about the
requirements of academic integrity in the course.

Course Instructors

Instructor Office Location Phone Email

Soh Yeng Chai S2-B2b-62 67905423 [email protected]
Mo Yilin S1-B1c-104 67904551 [email protected]

Planned Weekly Schedule

Week Topic Course LO Readings/ Activities

3
1 Introduction - Basic Ideas and 1-4 Online lecture; Tutorial
Terminology; System Modelling - Block
Diagrams
2 System Modelling - Modelling of Physical 1-4 Online lecture; Tutorial
Systems
3 Time Domain Analysis - Responses of 1st 1-5 Online lecture; Tutorial; Quiz
and 2nd Order Systems; Time-Response
Specifications
4 Stability Analysis - Routh-Hurwitz 1-5 Online lecture; Tutorial; Discussion
Stability; Roots on jw-axis; Relative of Quiz results
Stability
5 System Performance - Steady-state 1-5 Online lecture; Tutorial
Errors; PID Controller Design - P and PD
Controllers
6 PID Controller Design - PI and PID 1-5 Online lecture; Tutorial; Quiz
Controllers; Root-Locus Analysis - Root
Locus Plot
7 Root-Locus Analysis - Root Locus Plot; 1-5 Online lecture; Tutorial; Discussion
Design with Root Locus of Quiz results
8 Frequency Response; Bode Plot of Basic 1-4 Online lecture; Tutorial
Factor
9 Bode Plot of Transfer Function; 1-4 Online lecture; Tutorial
Frequency Domain Modelling
10 Nyquist Stability; Relative Stability 1-5 Online lecture; Tutorial; Quiz
Analysis Lab
11 Lead Compensator; Lag Compensator 1-5 Online lecture; Tutorial; Discussion
of Quiz results
Laboratory
12 Design Examples; PID Tuning Part I 1-5 Online lecture; Tutorial; Quiz
Laboratory
13 PID Tuning Part II; Overview 1-5 Online lecture; Tutorial; Discussion
of Quiz results