CALIFORNIA STATE UNIVERSITY LONG BEACH Department of Mechanical and Aerospace Engineering MAE 476 Mechanical Control Systems

I Spring 2014 SEM TuTh 9:30am 10:20am EN2 204 LAB TuTh 10:30am 11:45am EN2 204 Instructor: Bei Lu Office: ECS 644 Phone: (562)985-5194

Office hours: Tu 2:00 4:00pm Email: Bei.Lu@csulb.edu

COURSE DESCRIPTION An introduction to feedback control of linear systems, with emphasis on linear system dynamics, time and frequency response, stability analysis, classical and modern control theories, and design applications. COURSE OBJECTIVE To provide students with practical design skills and tools for the synthesis of engineering control systems. PRIMARY TEXT G.F. Franklin, J.D. Powell, and A. Emami-Naeini, Feedback Control of Dynamic Systems, 6th Edition, Prentice-Hall, 2009. REFERENCES K. Ogata, Modern Control Engineering, 5th Edition, Prentice-Hall, 2009. R.C. Dorf and R.H. Bishop, Modern Control Systems, 12th Edition, Prentice Hall, 2010. GRADING Midterm Exams (2) Quizzes Design Projects Final Exam Grade Scale (%)

40% 20% (the lowest score dropped) 20% 20% A: 90 100; B: 80 89; C: 70 79; D: 60 69; F: < 60

OTHER WITHDRAWAL POLICY It is the student's responsibility to withdraw from classes. Instructors have no obligation to withdraw students who do not attend classes, and may choose not to do so. The deadline to withdraw from a class without a "W" show up on your transcript is Monday, February 3, 2014. You can withdraw later, until April 18, but you'll have a "W" show up on your transcript. From April 19 to May 9, you can only withdraw for a documented serious and compelling emergency, with the approval of the dean's office, which expects that you are dropping all of your classes because of the seriousness of the emergency. ATTENDANCE POLICY Experience has shown that good grades are strongly correlated with attendance, practice, and participation. Class attendance is highly recommended.

 ACCESSIBILITY POLICY Any student with a disability should schedule an appointment with me at the beginning of the semester to discuss academic accommodations. Check out the Disabled Student Services web site to learn about services available to you: http://www.csulb.edu/depts/dss/. CHEATING AND PLAGIARISM POLICY Academic dishonesty rules, as outlined in the CSULB catalog, will be strictly enforced. Students are encouraged to work in small groups and use additional reference materials for the solution of homework assignments. However, copying and submitting the work of other students as your own is a violation of academic dishonesty rules, and will be treated as such. Students should read the section on cheating and plagiarism in the CSULB catalog. Tentative Schedule (*: In-class quizzes : Take-home quizzes) Date Topics I. Introduction Jan. 21 Feedback systems, terminology II. Dynamic Models and Response Equivalent linear system representations: differential equations, state space, transfer functions, block diagrams Jan. 23*, 28 Time response of first and second-order systems Jan. 30* Time domain specifications; effects of poles and zeros Feb. 4* Rouths stability criterion Feb. 6 Introduction to Matlab/Simulink III. Basic Properties of Feedback PID control, benefits of feedback Feb. 11, 13 Steady-state error and system type Feb. 18 First Design Project Feb. 20 Feb. 25 Feb. 27, Mar. 4* Mar. 6, 11 Exam #1 IV. The Root Locus Design Method Rules for sketching Gain selection from the Root Locus Compensation design using Root Locus: lead, lag, and lead-lag compensation V. The Frequency-Response Design Method Bode plot techniques Gain and phase margins Compensation design using frequency response: lead, lag, and lead-lag compensation Exam #2 VI. State-Space Design State-space analysis Full state-feedback control: pole placement Estimator design Compensator design: combined control law and estimator Second Design Project Final Review Final Exam

Reading 1.1-1.4 2.1-2.3 3.1-3.2, 7.2 3.3 3.4-3.5, 3.7.1 3.7.2

4.1, 4.3 4.2

5.1-5.3 5.4 5.5-5.6

Mar. 13, 18 Mar. 20 Mar. 25*, 27 Apr. 8 Apr. 10 Apr. 15*, 17 Apr. 22, 24 Apr. 29 May 1 May 6, 8 May 13

6.1, 6.5 6.2, 6.4 6.6-6.7

7.1, 7.3-7.4 7.5-7.6 7.7 7.8