Introduction to Feedback Control Systems
Course Summary: Undergraduatelevel (CMPE141/EE154) & graduatelevel (CMPE241/EE241) introduction to control of continuous linear systems using classical feedback techniques. Design of feedback controllers for commandfollowing error, disturbance rejection, stability, and dynamic response specifications. Root locus and frequency response design techniques (Bode). Nyquist stability criterion. Design of dynamic compensators. Examples are drawn from electrical, mechanical, applications. Computer aided design with MATLAB.
Lectures & Sections:
Lectures: Tu/Th  Merrill 102
Section 1 (TA)  Mon 3:30  4:40  ENG 194
Section 2 (TA)  Tue 6:00  7:10  Merrirll 102 (same as the class)
Prerequisite:
EE103  Signals and Systems
AMS27  Mathematical Methods for Engineers
Equivalent (Basic Circuit Analysis, Basic Dynamics, Differential Equations, Complex Numbers)
Assignments & Grading:
EE 154 (Undergraduate)
Homework 20%
Attendance 10%
Mid Term 30%
Final Exam 40%
CE 241 (Graduate)
Homework 20%
Attendance 10%
Mid Term 20%
Final Exam 40%
Final Project 10%
Textbook: Feedback Control of Dynamic Systems, Gene Franklin, J.D. Powell, Abbas EmamiNaeini, Prentice Hall; 6th edition (October 3, 2009), ISBN: 0136019692
Class Notes
Class 00 Notes : Course Information
Class 01 Notes : Introduction to Feedback Control
Class 02 Notes : System Modeling
Class 02 Annotated Notes
Class 03 Blank Notes : Dynamic Models  ODE
Class 03 Annotated Notes
Class 04 Blank Notes : Laplace Transform
Class 04 Annotated Notes
Class 05 Blank Notes : Block Diagram Algebra
Class 05 Annotated Notes
Class 06 Blank Notes : Design Specs. & Stability
Class 06 Annotated Notes
Class 07 Blank Notes : System Type & PID
Class 07 Annotated Notes
Class 08 Blank Notes : Root Locus  Rules (1/3)
Class 08 Annotated Notes
Class 09 Blank Notes : Root Locus  Examples (2/3)
Class 09 Annotated Notes
Class 10 Blank Notes : Root Locus  Design (3/3)
Class 10 Annotated Notes
Class 11 Blank Notes : Bode
Class 11 Annotated Notes
Class 12 Blank Notes: Gain / Phase Margins
Class 12 Annotated Notes
Class 13 Blank Notes: Nyquist
Class 13 Annotated Notes
Class 14 Blank Notes: Bode Design
Class 14 Annotated Notes
Supplement Videos
13_IntroToBode.avi
14_MoreBode.avi
15_Nyquist.avi
16_Nyquist_2.avi
17_BodeDesign.avi
TA Section Notes
TA 01 Notes
TA 02 Notes
TA 03 Notes
TA 04 Notes
TA 05 Notes
TA 06 Notes
TA 07 Notes
TA 08 Notes
TA 09 Notes
TA 10 Notes
TA Exam Review Section Notes
Mid Term Exam  Review Notes
Final Exam  Review Notes
Midterm Exam  Solution
Supplement References
Class 01: Complex Numbers
Class 03: ODE 1; ODE 2
Class 04: Laplace Transform
Class 05: Block Diagram Algebra
Class 11: Bode Plot Graph Paper
Class 13: Polar Plot Graph Paper
Homework (textbook  6th edition)
HW #1: Due: Oct. 3  Basic Feedback Systems
1.2 (8 points)
1.4 (35 points  7 per section)
1.5 (8 points)
1.8 (49 points  7 per section)
Solution to HW #1
HW #2: Due: Oct. 10  Systems & Dynamics Modeling
2.1 (15 points)
2.3 (15 points)
2.14 (15 points)
2.15 a,b,c,d (10 points each)
2.19
(15 points)
Solution Guidlines for 2.1a
y is a dispalcment input to the system. There is no mass attached to y.
Solution Guidlines for 2.14
Write the Kirchhoff's Current Law for the V input junction
Write the Kirchhoff's Current Law for the V+ input
junction
Express V as a function of R_f, R_in, R_out, V_in, V_out
Express V+ as a function of R , r , V_in, V_out
Express V and V+ as a function of N and P
Plug the expression of V+ and V into the equation in Q 2.10
V_out=[10^7(V+  V]/(s+1)
Express the transfer function V_out/V_in
Solution to HW #2
HW #3: Due: Oct. 24  Laplace
2.20 (8 points)
3.15 (15 points)
3.2 b (7 points)
3.2 c (7 points)
3.3 c (7 points)
3.4 d (7 points)
3.5 a (7 points)
3.7 c (7 points)
3.7 f (7 points)
3.8 c (7 points)
3.8 e (7 points)
3.9 c (7 points)
3.9 e (7 points)
Solution to HW #3
HW #4: Block Diagrams, Time Specs
3.19 (10 points)
3.20 c (15 points)
3.21 d (15 points)
3.22 (15 points)
3.23 (15 points)
3.25 (15 points)
3.31 (15 points)
Solution to HW #4
HW #5:Time Specs, Stability
3.27 (20 points)
3.29 (40 points)
3.30 (20 points)
3.42 a (10 points)
3.43 a (10 points)
Solution to HW #5
HW #6: Root Locus Design
Solution to HW #6
HW #7: Bode
Solution to HW #7
HW #8: Gain / Phase Margins  Nyquist
Solution to HW #8
HW #9: Review
Problems (Scanned from the textbook  6th edition)
Chapter 1 and Chapter 2  Problems
Chapter 3  Problems
Chapter 4  Problems
Chapter 5  Problems
Chapter 6  Problems
Exams
Mid Term Exam Scheduled for Nov. 12 (in class)
Final Exam Scheduled for * (in class)
Final Project (Graduate Students)
