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Feedback Control Systems

MAAE 4500C
Carleton University

Department of Mechanical and Aerospace Engineering

Winter 2017 (January-April 2018)

Sections, Instructors & Lectures:

MAAE 4500 C MAAE 4500 B
Dr. Rishad Irani Dr. Fred Nitzsche
3250 Mackenzie Building 6214D VSIM

Tuesday & Thursday Wednesday & Friday

14:35 – 15:55 08:35 – 09:55
KM-TM MC 5050

NOTE: Students should attend lectures in which they are registered.

Prerequisite: MATH 3705 Mathematical Methods

SYSC 3600 or 3610 Systems and Simulation

Course Description:
Introduction to the linear feedback control. Analysis and design of classical control
systems. Stability and the Routh-Hurwitz criteria. Time and frequency domain
performance criteria, robustness and sensitivity. Root locus, Bode and Nyquist design
techniques. Control system components and process automation.

Goals and Outcomes of the Course:

Students will extend their knowledge in modelling and analysis of dynamic behaviour of
physical systems and how to design various feedback controllers in time and frequency
domain. More specifically students will:

Feedback Control Systems

MAAE 4500C
1. Learn about the main structure and components of feedback control systems and
control objective, and the effect of reference, disturbance, and noise inputs.

2. Learn about the input-output models and transfer functions for linear-time-
invariant systems and the first and second order systems in particular as means of
defining desired behaviours. Students will also work with Matlab software to
simulate dynamical systems.

3. Will learn how to define the main design criteria for control systems including
steady state, transients, and stability requirements. Students will learn about
selecting controller structures to achieve desired steady state responses and
analyze the stability of systems.

4. Learn how to construct root locus diagrams for feedback-controlled systems (by
sketching or using engineering software such as Matlab) and use that to
understand various dynamic behaviours. They will learn how to propose control
structures to achieve certain behaviours.

5. Learn to specify design requirements and design Lead, Lag, Lead-Lag, P, PD, PI,
and PID controllers to achieve these requirements. Students will apply Matlab
software to build models and validate their controllers.

6. Learn about the input-output frequency response of linear systems, construction

and understanding of Bode plots, and polar/Nyquist diagrams. Students will also
learn how to evaluate the steady state behaviours and type of the systems from
the frequency diagrams.

7. Learn about the stability of linear systems in frequency domain, gain and phase
margin, and how to design basic controllers in frequency domain (steady state
errors and gain and phase margins) to achieve the design requirements.

Outline of the Main Course Topics:

1. Introduction to Control Systems
2. Overview of Mathematical Modeling of Dynamic Systems
3. Root-Locus Analysis
4. Control Systems Design by the Root-Locus Method
5. PID Control
6. Frequency Response and Stability Analysis
7. Control Systems Design in the Frequency Domain

Feedback Control Systems

MAAE 4500C
Course Management:
cuLearn – course info, lecture material, assignments, solutions, will be
posted on the MECH 4500 cuLearn site.

Mid-Term Test 40% February 14th 6-8pm
Final Exam 60% TBA – set by the University

Mid-Term will not be held during regularly scheduled lectures.

Students must pass the final exam to pass the course.

Course References:
The primary reference will be the instructor’s notes.

Primary Complimentary Textbook:

Control Systems Engineering (7th Edition), Norman Nise, Wiley, 2015

Other Useful References:

Modern Control Engineering, K. Ogata, Prentice Hall (any edition)

Periodic assignment will be provided through the semester along with the
solutions. The purpose of the assignments is not to “test” your knowledge
but for you to practice techniques and apply the theory which you have
seen through the lectures.

Allowable Aids During Quizzes, Tests and Exams:

1. Only non-communicating calculators are allowed
2. Formulas and key information will be provided.

General Rules:
1. ZERO TOLERANCE for cell phone use in class. No instant messaging,
no web browsing, emailing, or games. If you are found using your
cellphone, you may be told to leave the lecture. If there is extenuating
circumstances, notify the instructor prior the start of the class and an
exception can be discussed.

2. There is no Special, Makeup, Supplementary Quizzes, Midterm or Final

Exam. If an examination is missed then the department and faculty

Feedback Control Systems

MAAE 4500C
regulations will be followed.

3. Only non-communicating calculators are allowed for the Quizzes,

Midterm and Final Exams.

4. If you wish to use your laptop or tablet during class to take notes you
must sit in the front two rows. Web browsing, instant messaging,
emailing, etc, is not permitted during class. If you are found violating
the rules, you may be told to leave the lecture.

5. Unless accompanied by an official academic accommodation or

approved by the instructor, recordings, videos and photographs of
lectures are prohibited.

6. If there are any students with academic accommodations please come

and speak with me.

7. Academic dishonesty will not be tolerated. Violations will be handled

as per the faculty regulations.

Academic Accommodations:
You may need special arrangements to meet your academic obligations
during the term. For an accommodation request, the processes are as

Pregnancy obligation:
Write to me with any requests for academic accommodation during the
first two weeks of class, or as soon as possible after the need for
accommodation is known to exist. For more details visit the Equity
Services website.

Religious obligation:
Write to me with any requests for academic accommodation during the
first two weeks of class, or as soon as possible after the need for
accommodation is known to exist. For more details visit the Equity
Services website.

Students with disabilities requiring academic accommodations:

The Paul Menton Centre for Students with Disabilities (PMC) provides
services to students with Learning Disabilities (LD), psychiatric/mental
Feedback Control Systems
MAAE 4500C
health disabilities, Attention Deficit Hyperactivity Disorder (ADHD),
Autism Spectrum Disorders (ASD), chronic medical conditions, and
impairments in mobility, hearing, and vision. If you have a disability
requiring academic accommodations in this course, please contact PMC at
613-520-6608 or for a formal evaluation. If you are
already registered with the PMC, contact your PMC coordinator to send
me your Letter of Accommodation at the beginning of the term, and no
later than two weeks before the first in-class scheduled test or exam
requiring accommodation (if applicable). Requests made within two
weeks will be reviewed on a case-by-case basis. After requesting
accommodation from PMC, meet with me to ensure accommodation
arrangements are made. Please consult the PMC website
( for the deadline to request accommodations for
the formally-scheduled exam (if applicable).

Equity Services Website:

Feedback Control Systems

MAAE 4500C