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Revision as of 07:26, 8 February 2010

CMPE-432: Feedback Control Design


Dr Abubakr Muhammad, Assistant Professor of Electrical Engineering

Email: abubakr [at]

Office: Room L310, 3rd Floor, SSE Bldg

Office Hours: Mon, Wed: 11am-12pm. Tue, Thurs: 9:30am-12pm

Hasan Arshad Nasir, Teaching Assistant

Email: hasan.nasir [at]

Office: Room L314, 3rd Floor, SSE Bldg

Office Hours: TBA

Course Details

Year: 2009-10

Semester: Spring

Category: Undergrad

Credits: 3

Elective course for electrical & computer engineering majors

Course Website:

Course Description

Design of linear feedback control systems for command-following, disturbance rejection, stability, and dynamic response specifications. Root-locus and frequency response design (Bode) techniques. Nyquist stability criterion. Design of dynamic compensators. Digitization and computer implementation issues. Course will include a design project on digital controller design.



Enforced: CMPE2xx. Signals and Systems OR CMPE2xx. Circuits and Systems-II

Recommended: MATH2xx Linear Algebra-I


Laplace transform, differential equations, programming in MATLAB and C.

Text book

The course will be taught from a combination of the following textbooks.

  • Feedback control of dynamical systems by Franklin, Powell and Emami-Naeni, Prentice Hall, 2006.
  • Computer controlled systems by Karl Astrom and Bjorn Witternmark, Prentice Hall, 1997.

Other important references include

  • Feedback Systems: An Introduction for Scientists and Engineers by Karl Astrom and Richard Murray, Princeton University Press, 2008.
  • Signals and Systems by Alan V. Oppenheim, Alan S. Willsky with S. Hamid, 2nd edition, Prentice Hall, 1997.
  • Modern Control Engineering by Ogata.

Grading Scheme

Homeworks+Quiz : 15%

Design Project: 25%

Midterm: 20%

Final : 40%

Policies and Guidelines

  • Quizzes will be announced. There will be no makeup quiz.
  • Homework will be due at the beginning of the class on the due date. Late homework will not be accepted.
  • You are allowed to collaborate on homework. However, copying solutions is absolutely not permitted. Offenders will be reported for disciplinary action as per university rules.
  • Any appeals on grading of homeworks, quiz or midterm scores must be resolved within one week of the return of graded material.
  • Attendance is in lectures and tutorials strongly recommended but not mandatory. However, you are responsible for catching the announcements made in the class.
  • Attendance in lab exercises is compulsory.
  • Many of the homeworks will include MATLAB based computer exercise. Some proficiency in programming numerical algorithms is essential for both the homework and project.
  • Separate tutorials on software tools such as SIMULINK and MATLAB real-time workshop can be arranged if there is significant demand for it.

Course Delivery Method

Lectures. Mon, Wed: 9:30am-10:45am. 10-402. SSE Bldg.

Labs. Wed: 9:00am-11:00 am (Week 2, 4, 6). EE-Lab2. SSE Bldg.


Week 1. January 25 Jan 25. Classes begin. Lecture 1. Introduction to concepts of control, feedback, feedforward, uncertainty and robustness;

Lecture 2. Review of Laplace transforms; impulse response; convolution; frequency response;

Week 2. February 1 Feb 1. Add/drop with full refund; Feb 5. Kashmir Day. Lab 1.

Lecture 3. Block diagrams; modeling examples: cruise control; car suspension;

Lab 1 Handouts. Simulink Basics. Cruise Control Problem.

Homework. HW #1.

Week 3. February 8 Feb 10. Second payment deadline Lecture 4. Modeling examples (contd.); Firsr order models; linearization of nonlinear models; pendulum; model of internet congestion control (TCP);
Week 4. February 15 Hw 1 due.
Week 5. February 22 Feb 27. Eid Milad-un-Nabi
Week 6. March 1 March 1. Drop with penalty
Week 7. March 8
Week 8. March 15 Midterm exams
Week 9. March 22 Mid semester break
Week 10. March 29
Week 11. April 5
Week 12. April 12
Week 13. April 19
Week 14. April 26
Week 15. May 3
Week 16. May 10 May 10. Last day of classes; May 11-13. Reading and Reviewing period; May 14-21. Final Exams.
Week 17. May 17 May 14-21. Final Exams
Week 18. May 24 May 24-38. Semester break; May 31. Final grades submission .
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