Control System Design

(3-0-3-4)

CMPE Degree: This course is Selected Elective for the CMPE degree.

EE Degree: This course is Selected Elective for the EE degree.

Lab Hours: 3 supervised lab hours and 0 unsupervised lab hours.

Technical Interest Groups / Course Categories: Threads / ECE Electives

Course Coordinator: David G Taylor

Prerequisites: (ECE 2031 [min C] or ECE 20X2 [T]) and (ECE 3550 [min C] or ECE 3085 [min C] or ECE 3084 [min C])

Catalog Description

Design of control algorithms using state-space methods, microcontroller implementation of control algorithms, and laboratory projects emphasizing motion control applications.

Textbook(s)

Feedback Control of Dynamic Systems

Course Outcomes

Apply the laws of physics to obtain mathematical models describing the dynamic behavior of several types of physical systems. 

Approximate the constant coefficients parameterizing the dynamic model of a given physical system by utilizing measured input-output data.

Develop a state-space model for a given physical system, and use it to analyze the system's response and to characterize the system's stability. 

Perform controllability and observability analyses to guide the selection of suitable actuators and sensors for a given physical system. 

Design a digital control algorithm incorporating state estimation, state regulation and error integration to impose command following. 

Program a computer to simulate a digital control system, accounting for the influence of disturbances, noise, quantization, sampling and saturation

Program a microcontroller to implement a digital control algorithm, using interrupt-based timing and on-chip peripherals for interfacing. 

Develop microcontroller code for motion control systems incorporating various types of electric motors and associated switched-mode drive circuits.

Evaluate the performance of motion control system implementations by analyzing and interpreting experimental data obtained from measurement. 

Prepare documentation describing control system designs and associated laboratory measurements, conforming to appropriate technical standards.

Strategic Performance Indicators (SPIs)

N/A

Topic List

  1. State-Space Methods for Analysis and Design (not all topics covered each term)
    1. Physics of Electrical, Mechanical, and Electromechanical Systems
    2. Approximation of Nonlinear Systems by Linear Models
    3. System Models, Responses, and Stability
    4. Numerical Simulation Techniques
    5. Objectives and Specifications in Control Applications
    6. State Regulation, Controllability, Actuator Selection
    7. State Estimation, Observability, Sensor Selection
    8. Integral Control, Command Following, Disturbance Rejection
    9. Inversion of Plant Model, Motion Planning, Tracking Control
    10. Controller Discretization, Indirect Continuous-Time Design
    11. Plant Discretization, Direct Discrete-Time Design
    12. Parameter Identification Methods
    13. Time-Scale Separation, Reduced-Order Design Models
    14. Optimization-Based Design and Stability Robustness
  2. Microcontrollers and Control Applications (not all topics covered each term)
    1. Computer Representation of Numbers
    2. Interrupt-Based Program Flow
    3. Clocks and Timers
    4. General Purpose Inputs and Outputs
    5. Serial Communication, Chip-to-Chip, System-to-System
    6. Digital-to-Analog Conversion, Analog-to-Digital Conversion
    7. Pulse-Width Actuation, Pulse-Width Sensing
    8. Encoders, Accelerometers, Gyroscopes
    9. DC Motors, AC Motors, Drive Circuits
    10. Two-Machine Motoring/Generating Dynamometers
    11. Electromechanical Motion Systems, Mobile Robots
    12. Under-Actuated Motion Systems, Crane, Rocket
    13. Switched-Mode Power Converters