Electrical, Computer, and Systems Engineering Department

ECSE 4440 Control System Engineering, Fall 2005

Instructor: John Wen, CII 8015, 276-6105, wenj at rpi dot edu

Lecture Hours: Tuesday/Friday 2:00-3:20 pm, Room: JEC 4304

Office Hours: Monday/Thursday 1:00-2:00pm, CII 8015

 

Course Information

 

 

FINAL EXAM:   Wednesday Dec 14, 6:30-9:30 in Ricketts 203, open book, open notes

 

 

Text Box: NOTICE: New due date for project (12/12 7pm instead of 12/9).

 

 

Midterm Exam: Take home exam to be emailed out on Monday November 14 and due in class on Friday November 18.

No collaboration allowed.

                       

 

Monday

Tuesday

Wednesday

Thursday

Friday

November

 

31

1

2

3

 

4

 

 

7

8 Project posted

9

10

11

 

14 Midterm emailed

15

16

 

17

18 Midterm due

 

 

21

22

23

 

24

25

December

 

28

29

30

1

2

 

5

6

7

8

 

9

 

12 Project due

13

14 FINAL

6:30-9:30

15

16

 

 

Topics:

 

Date

Topic

11/4

Simulink, PID Tuning (10-1 to 10-3)

11/8

Design project description

11/11

Introduction to the state space method

11/15

Full state feedback and pole placement

11/18

State estimator

11/22

Tracking control

11/29

Digital implementation

12/2

Design example

12/6

Design example

12/9

Review

Lecture slides:

·        November 4: PID controller and gain tuning, introduction to MATLAB and Simulink: Read 10.1-10.3.

·        November 8: Project description  You should start playing with this model, for example, try applying PID control to this system, and just tweak the gains based on the outputs.

In-class notes

·        November 11:  Read 11.1-11.3 and 12.1-12.3

1.      You should be prepared to discuss: Given a plant 1/s^2 and PID controller kp+ki/s+kd s, how to plot root locus with respect to ki?

2.      We’ll talk about the derivation of the project model.

3.      We’ll start talking about the state space description of a linear time invariant system (start reading Chap. 11)

In-class notes

·        November 15: Review of frequency domain control design through loop shaping, Bode plot, lead/lag compensation, Nyquist plot, gain/phase margins

Don’t forget to hand in the 3 root locus exercise problems: do them by hand first, then by MATLAB.

1.      Loop gain: (b+16 s)/(b+s) * 9/s^2 (sketch root locus as a function of b>0).

2.      Loop gain: 1/(s^2+(1+a) s + (1+a)) (sketch root locus as a function of a>0).

3.      Loop gain: K((s+1)^2+1)/(s^2 (s+2)(s+3)))  (sketch root locus as a function of K>0).

Homework Solution   MATLAB plots

In-class notes

·        November 18: State space system description, start on project.

In-class notes

·        November 22: State estimator design and tracking control

In-class notes

·        November 29: Project/Homework, discretization of state estimator

In-class notes

tstat.m

Homework (due on 12/6): Incorporate observer and discretization (sample-data implementation) in your state space design and tune controller for the nonlinear system performance.

·        December 2: in-class notes

·        December 6: Linear Quadratic Optimal Control

in-class notes

§         December 9: last class

In-class notes

§         December 12: review session

Contact Info:

John T. Wen
Office: CII 8015
Voice: (518)-276-6156
Fax: (518)-276-4897
Email: wenj at rpi dot edu