Basic Information

Linear Control Systems

Instructor Contact Information

moosavi@profs.hut.ac.ir Phone : 8411-506

Class Webpage
http://profs.hut.ac.ir/~moosavi/control

Final Grade Weighting Schedule

Homework average: 10% Quizzes: 10% Midterm exam: 30% Final exam: 50% Bonus: 0-5%

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Any announcement HW assignments Grades Any additional material

Student behavior expectations

Full attendance expected, except with priornotified excuses On-time arrival Be active Be considerate to students and TA Help each other in reviewing notes, HW, Matlab

Accommodation/Assistance
Please let me know if you
Have any medical/mental/emergency conditions Have special requests Want me to adjust lecture contents/pace

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Course Description
Linear Control Systems. (3 credit) Prereq: Signals & Systems Stability and performance analysis of automatic control systems. The root locus, and frequency response methods for control systems design. PID control and lead-lag compensation. Computer tools for control system analysis and design.

Prerequisite by topics
Concept and solution of linear ordinary differential equations Laplace transform and its applications Poles, zeros, transfer functions, frequency response, Bode plots Vectors and matrices Complex numbers Knowledge and proficiency in Matlab

OBJECTIVES
On completion of this course, the student will be able to do the following either by hand or with the help of computation tools such as Matlab:
Define the basic terminologies used in controls systems Explain advantages and drawbacks of open-loop and closed loop control systems Obtain models of simple dynamic systems in ordinary differential equation, transfer function, state space, or block diagram form Obtain overall transfer function of a system using either block diagram algebra, or signal flow graphs, or Matlab tools. Compute and present in graphical form the output response of control systems to typical test input signals Explain the relationship between system output response and transfer function characteristics or pole/zero locations Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria Analyze the closed loop stability and performance of control systems based on open-loop transfer functions using the Root Locus technique Design PID or lead-lag compensator to improve the closed loop system stability and performance using the Root Locus technique Analyze the closed loop stability and performance of control systems based on open-loop transfer functions using the frequency response techniques Design PID or lead-lag compensator to improve the closed loop system stability and performance using the frequency response techniques

Topics Covered
Review of signal systems concepts and techniques applied to control system Block diagrams and signal flow graphs Modeling of control systems using ode, block diagrams, and transfer functions Modeling and analysis of control systems using state space methods Analysis of dynamic response of control systems, including transient response, steady state response, and tracking performance. Closed-loop stability analysis using the Routh-Hurwitz criteria Stability and performance analysis using the Root Locus techniques Control system design using the Root Locus techniques Stability and performance analysis using the frequency response techniques Control system design using the frequency response techniques

Textbook
Modern Control Systems (11th Edition) by Richard C. Dorf and Robert H. Bishop

Other References
Modern Control Engineering (5th Edition) by Katsuhiko Ogata

Other References
Automatic Control Systems, Golnaraghi and Kuo, ninth edition, Wiley, 2009

collaboration and helping each other

For tasks not intended for group work, individual submission is required. In this case, you are encouraged to discuss among your friends on how to attack problems. However, you should write your own solution. Copying other peoples work is strictly prohibited.

Academic dishonesty
Cheating is a very serious offense. It will be dealt with in the most severe manner allowable under University regulations. If caught cheating, you can expect a failing grade and initiation of a cheating case in the University system.

Control System Terminology

Input - Excitation applied to a control system from an external source. Output - The response obtained from a system Feedback - The output of a system that is returned to modify the input. Error - The difference between the reference input and the output.

Negative Feedback Control System

Types of Control Systems

Open-Loop
Simple control system which performs its function with-out concerns for initial conditions or external inputs. Must be closely monitored.

+ -

CONTROLLER

CONTROLLED DEVICE

Closed-Loop (feedback)
Uses the output of the process to modify the process to produce the desired result. Continually adjusts the process.

FEEDBACK ELEMENT

Advantages of a Closed-Loop Feedback System

Increased Accuracy Increased ability to reproduce output with varied input. Reduced Sensitivity to Disturbance By self correcting it minimizes effects of system changes. Smoothing and Filtering System induced noise and distortion are reduced. Increased Bandwidth Produces satisfactory response to increased range of input changes.

Major Types of Feedback Used

Position Feedback
Used when the output is a linear distance or angular measurement.

Fire Control Problem

Present Position Future Position

Rate & Acceleration Feedback

Feeds back rate of motion or rate of change of motion (acceleration) Motion smoothing Uses an electrical/mechanical device called an accelerometer
Ships Heading

Bearing Change

Range Change

Fire Control Problem

Input Target data Own ship data Computations Relative motion procedure Exterior ballistics procedure

Fire Control Problem

Solutions Weapons time of flight Bearing rate Line of Sight(LOS): The line between the target and the firing platform Speed across LOS Future target position Launch angles Launch azimuth Launch elevation Weapon positioning orders The above determines weapon trajectory: The line the weapon must travel on to intercept the target.

The Iterative Process to the Fire Control Solution

A 3-Dimensional Problem

Step 1 Step 2 Line of Sight

Target Elevation Gun Elevation Step 3 Last Step Horizontal Reference Plane

Solving the Fire Control Problem

Idle-speed control system.

Continuously Measure Present Target Position

Stabilize Measured Quantities

Compute Relative Target Velocity

Environmental Inputs Weapons Positioning orders

Ballistic Calculations
Launch Angles (Stabilized)

Unstabilized Launch Angles

Future Target Position

Time of Flight Relative Motion Calculations

Prediction Procedure

Solar collector field

Conceptual method of efficient water extraction using solar power.

Important components of the sun-tracking control system.

Antenna azimuth position control system:

a. system concept; b. detailed layout; c. schematic; d. functional block diagram

High gain; fast but oscillating

Computer hard disk drive, showing disks and read/write head

Response of a position control system showing effect of high and low controller gain on the output response
Courtesy of Quantum Corp.

Control goal; fast reaction, lower overshoot, less settling time

Aircraft attitude defined

The control system design process