ECE 1673: Linear
Control Systems (4 Credits, Spring 2009)
Description: Introduction to feedback control systems, mathematical
models, second order systems response and identification, system types,
steady-state errors, root locus analysis and design, Bode plots, Nyquist theory
and frequency domain compensation techniques, and introduction to modern
control design. Includes Matlab/Simulink labs.
Time: Monday 9:00 am—10:50 am and
Wednesday 9:00 am—11:50 am
Instructor:
Dr. Zhi-Hong Mao
(Office) 434 Benedum Hall
(Phone) 412-624-9674
(Email) maozh@engr.pitt.edu
(Office hours) Tuesday 4:00 pm—6:00 pm
Teaching
Assistant:
Mr. Robert O’Connor
(Office) 1073 Benedum Hall
(Email) rgo1@pitt.edu
Text: Charles L. Phillips and
Course Evaluation:
Homework:
15%
Lab
report: 20%
Quiz
I: 15%
Quiz
II: 15%
Final
exam: 25%
Class
participation: 10%
Schedule for lectures (notes will be available at http://www.engr.pitt.edu/electrical/faculty-staff/mao/1673/):
|
Date |
Topic |
|
|
1/5 M (Monday) |
Lecture
1: Course organization; introduction to control systems |
Chapter 1 of the text book |
|
1/7 W (Wednesday) |
Lecture
2: Mathematical foundation |
Chapter 2 and Appendex B |
|
1/12 M |
Lecture
3: System modeling; block diagrams and signal flow graphs |
Chapter 2 |
|
1/14 W |
Lecture
4: System responses of first order and second order systems (I) |
Chapter 4 |
|
1/19 M |
No
class (Dr. Martin Luther King’s
birthday observance) |
|
|
1/21 W |
Lecture
5: System responses (II); stability |
Chapter 5 |
|
1/26 M |
Lecture
6: Disturbances and sensitivity |
Chapter 5 |
|
1/28 W |
Lecture
7: System types; steady-state accuracy; transient response |
Chapters 5 and 6 |
|
2/2 M |
Lecture
8: More on stability analysis; introduction to root locus |
Chapters 6 and 7 |
|
2/4 W |
Lecture
9: Root locus rules |
Chapter 7 |
|
2/9 M |
Lecture
10: Root locus examples |
Chapter 7 |
|
2/11 W |
Lecture
11: Root-locus design; practice problems for Quiz I |
Chapter 7 |
|
2/16 M |
Quiz I |
|
|
2/18 W |
Lecture
12: Phase-lead compensator and phase-lag compensator; PID control |
Chapter 7 |
|
2/23 M |
Lecture
13: More on root-locus design; frequency response analysis; Bode diagrams |
Chapter 8 |
|
2/25 W |
Lecture
14: Bode diagram examples |
Chapter 8 |
|
3/2 M |
Lecture
15: Nyquist criterion |
Chapter 8 |
|
3/4 W |
Lecture
16: Examples of Nyquist diagram |
Chapter 8 |
|
3/9 M |
No class (spring break) |
|
|
3/11 W |
No class (spring break) |
|
|
3/16 M |
Lecture
17: More examples of Nyquist diagram; relative stability |
Chapter 8 |
|
3/18 W |
Lecture
18: Recitation |
Chapter 9 |
|
3/23 M |
Lecture
19: Practice problems for Quiz II; frequency response design (I): control
design specifications |
|
|
3/25 W |
Quiz II |
|
|
3/30 M |
Lecture
20: Frequency response design (II): cascade compensation, gain
compensation, and phase-lag compensation (I); concepts in modern control (I):
centralized and decentralized control |
Chapter 9 |
|
4/1 W |
Lecture
21: Frequency response design (III): phase-lag compensation (II);
concepts in modern control (II): hybrid control |
Chapter 9 |
|
4/6 M |
Lecture
22: Frequency response design (IV): phase-lead compensation; concepts in
modern control (III): nonlinear control |
Chapter 9 |
|
4/8 W |
Lecture
23: Frequency response design (V): lag-lead compensation and PID control;
concepts in modern control (IV) state-variable modeling, observability, and controllability |
Chapter 9 |
|
4/13 M |
Lecture
24: Course review |
|
|
4/15 W |
Final exam
(option 1: 9:00 am—11:00 am) |
|
|
4/25 Sat |
Final exam
(option 2: 10:00 am—12:00 pm) |
|
Schedule for labs:
|
Topic |
Due date |
|
Lab 1: Simulation
of continuous casting |
1/21 W |
|
Lab 2: Simulation
and analysis of system stability |
2/11 W |
|
Lab 3: PID
tuning Supplemental note: PID
control |
3/18 W |
|
Lab 4: Phase
shift oscillator |
4/15 W |
Homework Solutions:
|
|
|
|