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| Module Availability |
Spring semester |
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| Assessment Pattern |
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Unit(s) of Assessment
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Weighting Towards Module Mark( %)
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Assignments
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20%
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Examination
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80%
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| Module Overview |
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| Prerequisites/Co-requisites |
EE2.lsa (Advised) |
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| Module Aims |
To introduce the principles of classical control analysis and design and the modern topics of state-space and sampled-data systems analysis. |
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| Learning Outcomes |
Upon successful completion of this module students will be able to:
- model physical systems in the time and complex frequency domains,
- use mathematical tools such as laplace and Z transforms and manipulate difference and differential equations, transfer functions and block diagrams to analyse and design simple single input/output control systems,.
- understand the concept of pole-zero s-plane diagrams and apply root-locus techniques to design,
- assess stability using Routh’s and Nyquist’s criteria and use root-locus sketching, polar and Bode plots to stabilise systems,
- understand how systems are specified in terms of time and frequency and other performance criteria,
- analyse and design compensators using root-locus, Bode plots and Nichols charts,
- analyse systems using state-space representation,
- assess stability, sampled-time response and steady-state errors for sample-data systems and apply to simple design examples.
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| Module Content |
[1-8] Introduction to closed-loop control principles. System modelling in time and complex frequency domains. Review of
Laplace
Transforms. Initial and final value theorems. Differential equations, transfer functions and block diagram manipulation. Multi-loop systems with secondary inputs and outputs and signal flow graphs. Relationship between pole-zero patterns and system impulse response. Stability in time and complex frequency domains. Proportional, integral and derivative control.
[9-22] Routh's stability criterion. Poles-zeros, and root locus concept. Loop gain and other parameters. Guidelines for sketching root locus. Zero-degree root loci. Lead and lag compensation. Frequency response method. Polar and Bode plots and guidelines for sketching. Nyquist stability criterion and its application. Relative stability. Nichols chart and its application. Specification of system performance. Steady state accuracy, system type and error constants. Lead/lag compensation, theory and design. Controller design for systems with time delay.
[23-30] Multivariable analysis. State space representation and advantages. Controllability and observability. Pole placement controller design techniques, based on state variable feedback. Estimator design. Lyapunov stability.
Introduction to digital control. Modelling sampled-data systems. Z-transform analysis. Pulsed transfer functions. Stability, steady state accuracy and transient response in the Z-domain. Methods of design of digital control systems for specified performance. |
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| Methods of Teaching/Learning |
30 lectures |
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| Selected Texts/Journals |
Lecture course notes, N G Emerson : ‘Control Engineering – Overhead Transparencies’. A
Tutorial problems, N G Emerson :’Control Engineering – Tutorials 1-8 and selected past exam papers’. A
Franklin, G F ‘Feedback Control of Dynamic Systems’ 5th Edition 2006. 0-13-149930-0 Prentice Hall. A
Nise, N S ‘Control Systems Engineering’. 3rd Edition 2000. 0-471-36601-3 Wiley. A
Dorf, C ‘Modern Control Systems’. 11th Edition 2008. 0-13-227028-5 Prentice-Hall. B
Stefani, R T ‘Design of Feedback Control Systems’. 4th Edition 2002. 0-19-514249-7 Oxford University Press. C |
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| Last Updated |
12 August 2010 |
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