EE 131 Control System Analysis

Course Outline

Course topics:
1. Introduction
Introduction
A History of Control Systems
The Control Systems Engineer
Response Characteristics and System Configurations
Analysis and Design Objectives
Introduction to a Case Study
The Design Process
2. Modeling in the Frequency Domain
Introduction
Laplace Transform Review
The Transfer Function
Electric Network Transfer functions
Translational Mechanical System Transfer Functions
Rotational Mechanical System Transfer Functions
Transfer Functions for Systems with Gears
Electromechanical System Transfer Functions
Electric Circuit Analogs
Nonlinearities
Linearization
3. Modeling in the Time Domain
Introduction
Some Observations
The General State-Space Representation
Applying the State-Space Representation
Converting a Transfer Function to State Space
Converting from State Space to a Transfer Functions
Linearization

FIRST EXAM

4. Time Response
Introduction
Poles, Zeros, and System Response
First-Order Systems
Second-order Systems: Introduction
The General Second-Order Systems
Underdamped Second-Order Systems
System Response with Additional Poles
System Response with Zeros
Effect of Nonlinearities upon Time Response
Laplace Transform Solution of State Equations
Time Domain Solution of State Equations

5. Reduction of Multiple Subsystem

Introduction
Block Diagrams
Analysis and Design of Feedback Systems
Signal-Flow Graphs
Mason’s Rule
Signal-Flow Graphs of State Equations
Alternative Representations in State Space
Similarity Transformations
6. Stability
Introduction
Routh-Hurwitz Criterion
Routh-Hurwitz Criterion: Special Cases
Routh-Hurwitz Criterion: Additional Examples
Stability in State Space
7. Steady-State Errors
Introduction
Steady-State Error for Unity Feedback Systems
 Static Error Constants and System Type
Steady-State Error Specializations
Steady-State Error for Disturbances
Steady-State Error for Nonunity Feedback Systems
Sensitivity
Steady-State Error for Systems in State Space

SECOND EXAM December 15, 2010 Wednesday

8. Root Locus Techniques

Introduction
Defining the Root Locus
Properties of the Root Locus
Sketching the Root Locus
Refining the Sketch
An Example
Transient Response Design via Gain Adjustment
Generalized Root Locus
Root Locus for Positive-Feedback Systems
Pole Sensitivity
9. Design via Root Locus
Introduction
Improving Steady-State Error via Cascade Compensation
Improving Transient Response via Cascade Compensation
Improving Steady-State Error and Transient Response
Feedback Compensation
Physical Realization of Compensation

10. Frequency Response Techniques

Introduction
Asymptotic Approximations: Bode Plots
Introduction to the Nyquist Criterion
Sketching the Nyquist Diagram
Stability via the Nyquist Diagram
Gain Margin and Phase Margin via the Nyquist Diagram
Stability, Gain Margin, and Phase Margin via Bode Plots
Relation between Closed-Loop Transient and Closed-Loop Frequency Responses
Relation between Closed- and Open-Loop Frequency Responses
Relation between Closed-Loop Transient and Open-Loop Frequency
Responses
Steady-State Error Characteristics from Frequency Response
Systems with Time Delay
Obtaining Transfer Functions Experimentally

THIRD EXAM

11. Design via Frequency Response

Introduction
Transient Response via Gain Adjustment
Lag Compensation
Lead Compensation
Lag-Lead Compensation

12. Design via State Space

Introduction
Controller Design
Controllability
Alternative Approaches to Controller Design
Observer Design
Observability
Alternative Approaches to Observer Design
Steady-State Error Design via Integral Control

13. DIGITAL CONTROL SYSTEMS

Introduction
Modeling the digital computer
The z-Transform
 Transfer Functions
Block Diagram Reduction
Stability
Steady-State Errors
Transient Response on the z-Plane
Gain Design on the z-Plane
Cascade Compensation via the s-Plane
Implementing the Digital Compensator

FOURTH EXAM March 18, 2011 Friday