EE361
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Office: Room 9311A, 3rd Floor, SSE Bldg  Office: Room 9311A, 3rd Floor, SSE Bldg  
  
  
Mr. '''Zeeshan Shareef''', Teaching fellow  Mr. '''Zeeshan Shareef''', Teaching fellow  
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'''Lectures.''' Tues, Thurs: 12:00pm1:15pm. SC1.  '''Lectures.''' Tues, Thurs: 12:00pm1:15pm. SC1.  
  '''Labs.''' Mon, Wed:  +  '''Labs.''' Mon, Wed: 9:30:00am12:00 pm, 2pm4pm. EELab4. 5th Floor. SSE Bldg. 
== Schedule ==  == Schedule ==  
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{border="1"  {border="1"  
  ! WEEK !! SCHOOL CALENDAR !!  +  ! WEEK !! SCHOOL CALENDAR !! TOPICS !! REFERENCES 
    
 align ="left"  Week 1. January 24   align ="left"  Week 1. January 24  
 align ="left"  Jan 25. Classes begin.   align ="left"  Jan 25. Classes begin.  
  
 align ="left"  '''Lecture 1'''. Introduction to concepts of control, feedback, feedforward, uncertainty and robustness;   align ="left"  '''Lecture 1'''. Introduction to concepts of control, feedback, feedforward, uncertainty and robustness;  
  +   align ="left"  Franklin Ch1; Astrom Ch.1;  
    
 align ="left"  Week 2. January 31   align ="left"  Week 2. January 31  
 align ="left"  Feb 1. Add/drop with full refund; Feb 5. Kashmir Day.   align ="left"  Feb 1. Add/drop with full refund; Feb 5. Kashmir Day.  
  
 align ="left"  '''Lecture 2'''. advantages of feedback control; process, plant, sensor, actuator, control and disturbance; cruise control example;   align ="left"  '''Lecture 2'''. advantages of feedback control; process, plant, sensor, actuator, control and disturbance; cruise control example;  
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'''Lab 1'''. Introduction to SIMULINK environment and realtime data acquisition.  '''Lab 1'''. Introduction to SIMULINK environment and realtime data acquisition.  
+   align ="left"  Franklin Ch 2, Appendix A; Astrom Ch 1;  
    
 align ="left"  Week 3. February 7   align ="left"  Week 3. February 7  
 align ="left"  Feb 10. Second payment deadline   align ="left"  Feb 10. Second payment deadline  
  
 align ="left"  '''Lecture 5'''. Block diagrams; modeling examples; electromechanical systems;   align ="left"  '''Lecture 5'''. Block diagrams; modeling examples; electromechanical systems;  
  '''Lecture 6'''.  +  '''Lecture 6'''. Uses of feedback; robustness against parameter variation; creating inversion via feedback; 
'''Lab 2'''. Modeling systems and control in SIMULINK. Cruise control and water tank systems.  '''Lab 2'''. Modeling systems and control in SIMULINK. Cruise control and water tank systems.  
  +   align ="left"  Franklin Ch 2; Oppenheim Sec 11.2;  
    
 align ="left"  Week 4. February 14   align ="left"  Week 4. February 14  
 align ="left"  Feb 16. Eid MiladunNabi   align ="left"  Feb 16. Eid MiladunNabi  
  +   align ="left"  '''Lecture 7'''. Second order models of electrical and mechanical systems; rational transfer functions; poles and zeros;  
   align ="left"  '''Lecture 7'''. Second order models of electrical and mechanical systems; rational transfer functions; poles and zeros;  +  
  '''Lecture 8.''' Dynamic response. Unit impulse, step and ramp responses of first order systems; impulse and unit responses of second order system.  +  '''Lecture 8.''' Dynamic response. Unit impulse, step and ramp responses of first order systems; impulse and unit responses of second order system; damping ratio, natural frequency, Qfactor of 2nd order systems; effects of pole positions in the complex plane; 
+  
+  
+  '''Lecture 9'''. Modeling examples; Atomic Force Microscopy (AFM); voltage clamp in neuroscience; internet congestion control (TCP).  
+  
+   align ="left"  Franklin Ch 3; Astrom Ch 2,3;  
+  
+  '''Extras.''' [http://thevirtualheart.org/HHindex.html Hodgkin Huxley Model]; [[Media:AFM_slides.pdfSlides on AFM.]]  
+  
  
    
 align ="left"  Week 5. February 21   align ="left"  Week 5. February 21  
 align ="left"    align ="left"   
 align ="left"    align ="left"   
  
  '''Lecture  +  '''Lecture 10.''' Control specifications via rise time, overshoots, settling time; Meeting control specifications via a second order response; 
+  
+  '''Lecture 11.''' Internal stability and BIBO stability; stability of LTI systems; Effects of Zeros on response; PoleZero cancellation.  
+  
+  '''Lab 3'''. Position control of a DC motor.  
+   align ="left"  Franklin Ch 3;  
    
 align ="left"  Week 6. February 28   align ="left"  Week 6. February 28  
 align ="left"  March 1. Drop with penalty   align ="left"  March 1. Drop with penalty  
 align ="left"    align ="left"   
  +  '''Lecture 12.''' Routh's criterion for stability; examples on computing Routh's array. Examples on using Routh's criterion;  
+  
+  '''Lecture 13.''' Errors in open loop and closed loop control; Robustness against disturbances; Bode's sensitivity function; Watt's problem of disturbance rejection.  
+  
+  '''Lab 3''' (contd.) Position control of a DC motor.  
+   align ="left"  Franklin Ch3, 4;  
  '''  +  '''Extras.''' [http://webee.technion.ac.il/courses/044130/oldpages/science.pdf Proof of RouthHurtwitz] 
    
 align ="left"  Week 7. March 7   align ="left"  Week 7. March 7  
 align ="left"    align ="left"   
  +   align ="left"  '''Lecture 14.''' Bode's sensitivity function; Black's feedback amplifier design problem; comparing open loop and feedback topologies;  
   align ="left"  '''Lecture  +  
+  '''Lecture 15''' compensating steady state errors; systems types.  
+  
+  '''Lab 4.''' Digital control of an HVAClike thermal system.  
+  
+   align ="left"  Franklin Ch4.  
    
 align ="left"  Week 8. March 14   align ="left"  Week 8. March 14  
 align ="left"  Midterm exams   align ="left"  Midterm exams  
 align ="left"    align ="left"   
  +  '''Lecture 16.''' Dynamic errors; PID control; Limitations of P, PI, PD controllers; Introduction to root locus design;  
  '''Lecture  +  
  '''  +  '''Lecture 17.''' Motivational examples; MATLAB commands for drawing rootlocus; general properties of root loci; 
+  '''Midterm Exam'''.  
+   align ="left"  Franklin Ch4, 5; Astrom 10.1;  
    
 align ="left"  Week 9. March 21   align ="left"  Week 9. March 21  
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 align ="left"  Week 10. March 28   align ="left"  Week 10. March 28  
 align ="left"    align ="left"   
  +   align ="left"  '''Lecture 18.''' Examples of design using root locus; effects of additional poles and zeros;  
   align ="left"  '''Lecture  +  
+  '''Lecture 19.''' introduction to dynamic compensation;  
  '''  +  '''Lab 5'''. Anti windup in controller design. 
+   align ="left"  Franklin Ch 5;  
    
 align ="left"  Week 11. April 4   align ="left"  Week 11. April 4  
 align ="left"    align ="left"   
   align ="left"   +   align ="left"  '''Lecture 20.''' Examples of rootlocus design; 
  +  
+  '''Lecture 21.''' Lead, lag and notch compensators using root locus.  
  '''  +  '''Lab 6'''. Digital speed control of DC motor. 
+   align ="left"  Franklin Ch 5;  
    
 align ="left"  Week 12. April 11   align ="left"  Week 12. April 11  
 align ="left"    align ="left"   
  +   align ="left"  '''Lecture 22.''' Frequency domain design methods; Frequency response of a control system; bandwidth; Overshoots  
   align ="left"  '''Lecture  +  
  +  
  +  
+  '''Lecture 23.''' Frequency response (contd.); Second order systems; Bode plots; Neutral stability  
+  '''Lab 7'''. Discretetime controller implementation.  
+   align ="left"  Franklin Ch 6;  
    
 align ="left"  Week 13. April 18   align ="left"  Week 13. April 18  
 align ="left"    align ="left"   
  +   align ="left"  '''Lecture 24.''' Cauchy's residue theorem; Encirclement property  
   align ="left"  '''Lecture  +  
  '''Lecture  +  '''Lecture 25.''' Argument principle; Nyquist plots; Examples 
+  '''Lab 8'''. Practical system identification.  
+   align ="left"  Franklin Ch 6;  
    
 align ="left"  Week 14. April 25   align ="left"  Week 14. April 25  
 align ="left"    align ="left"   
   align ="left"   +   align ="left"  '''Lecture 26.''' Gain and Phase Margins; Frequency based control design basics 
  +  
+  '''Lecture 27.''' Minimum phase systems; Bode's gainphase relationship; PD control reinterpreted;  
+  
+  '''Lab 9'''. Inverted pendulum stabilization using state space methods.  
+  
+   align ="left"  Franklin Ch 6;  
    
 align ="left"  Week 15. May 2   align ="left"  Week 15. May 2  
 align ="left"    align ="left"   
   align ="left"   +   align ="left"  '''Lecture 28.''' PD control by lead compensation; design examples 
   align ="left"   +  
+  '''Lecture 29.''' PI control; lag compensation; laglead compensation; PID control  
+  
+  '''Lab 10'''. Case Study on Control System Design.  
+  
+   align ="left"  Franklin Ch 6;  
    
 align ="left"  Week 16. May 9   align ="left"  Week 16. May 9 
Current revision
EE361: Feedback Control Systems 

Instructors
Dr. Abubakr Muhammad, Assistant Professor of Electrical Engineering
Email: abubakr [at] lums.edu.pk
Office: Room 9311A, 3rd Floor, SSE Bldg
Mr. Zeeshan Shareef, Teaching fellow
Email: zeeshan.sharif [at] lums.edu.pk
Office: Room 9309, 3rd Floor, SSE Bldg
Mr. Talha Manzoor, Teaching Assistant
Email: talha.manzoor [at] lums.edu.pk
Office: Room 9309, 3rd Floor, SSE Bldg
Course Details
Year: 201011
Semester: Spring
Category: Undergrad
Credits: 4
Core course for electrical engineering majors
Course Website: http://cyphynets.lums.edu.pk/index.php/EE361
Course Description
Design of linear feedback control systems for commandfollowing, disturbance rejection, stability, and dynamic response specifications. Rootlocus and frequency response design (Bode) techniques. Nyquist stability criterion. Design of dynamic compensators. Statespace methods. Digitization and computer implementation issues. Integrated laboratory exercises on practical applications of control.
Objectives
The students should learn
 Use of control for achieving desired behavior in unstable and uncertain systems.
 Advantages and disadvantages of feedback in a system.
 Open and closedloop control and their respective merits/demerits.
 Stability and its relationship with feedback.
 Techniques of linear timeinvariant (LTI) control system design.
 Pervasiveness of feedback and control in science & engineering.
 Systems engineering tools for solving complex problems.
Learning Outcomes
The students will be able to:
 Model physical systems, sensors and actuators in various settings using the language of signals and systems.
 Identify state, measurement and control in a given problem.
 Design controllers for linear models of systems using MATLAB and SIMULINK.
 Implement digital controllers for various mechanical and electrical systems.
 Predict and test control system performance.
Prerequisites
Courses
Enforced: EE210. Signals and Systems
Recommended: MATH2xx Linear AlgebraI
Topics
Laplace transform, differential equations, programming in MATLAB and C.
Text book
The course will be taught from the following textbook.
 Feedback control of dynamical systems by Franklin, Powell and EmamiNaeni, Prentice Hall, 2006.
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.
 Computer controlled systems by Karl Astrom and Bjorn Witternmark, Prentice Hall, 1997.
Grading Scheme
Homeworks+Quiz : 15%
Lab Performance: 20%
Midterm: 30%
Final : 35%
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.
Course Delivery Method
Lectures. Tues, Thurs: 12:00pm1:15pm. SC1.
Labs. Mon, Wed: 9:30:00am12:00 pm, 2pm4pm. EELab4. 5th Floor. SSE Bldg.
Schedule
WEEK  SCHOOL CALENDAR  TOPICS  REFERENCES 

Week 1. January 24  Jan 25. Classes begin.  Lecture 1. Introduction to concepts of control, feedback, feedforward, uncertainty and robustness;  Franklin Ch1; Astrom Ch.1; 
Week 2. January 31  Feb 1. Add/drop with full refund; Feb 5. Kashmir Day.  Lecture 2. advantages of feedback control; process, plant, sensor, actuator, control and disturbance; cruise control example;
Lecture 3. Dynamical models; cruise control example revisited; introduction to OnOff and PID controllers Lecture 4. Review of Laplace transforms; impulse response; convolution; Lab 1. Introduction to SIMULINK environment and realtime data acquisition.  Franklin Ch 2, Appendix A; Astrom Ch 1; 
Week 3. February 7  Feb 10. Second payment deadline  Lecture 5. Block diagrams; modeling examples; electromechanical systems;
Lecture 6. Uses of feedback; robustness against parameter variation; creating inversion via feedback; Lab 2. Modeling systems and control in SIMULINK. Cruise control and water tank systems.  Franklin Ch 2; Oppenheim Sec 11.2; 
Week 4. February 14  Feb 16. Eid MiladunNabi  Lecture 7. Second order models of electrical and mechanical systems; rational transfer functions; poles and zeros;
 Franklin Ch 3; Astrom Ch 2,3;
Extras. Hodgkin Huxley Model; Slides on AFM.

Week 5. February 21 
Lecture 10. Control specifications via rise time, overshoots, settling time; Meeting control specifications via a second order response; Lecture 11. Internal stability and BIBO stability; stability of LTI systems; Effects of Zeros on response; PoleZero cancellation. Lab 3. Position control of a DC motor.  Franklin Ch 3;  
Week 6. February 28  March 1. Drop with penalty 
Lecture 12. Routh's criterion for stability; examples on computing Routh's array. Examples on using Routh's criterion; Lecture 13. Errors in open loop and closed loop control; Robustness against disturbances; Bode's sensitivity function; Watt's problem of disturbance rejection. Lab 3 (contd.) Position control of a DC motor.  Franklin Ch3, 4;
Extras. Proof of RouthHurtwitz 
Week 7. March 7  Lecture 14. Bode's sensitivity function; Black's feedback amplifier design problem; comparing open loop and feedback topologies;
Lecture 15 compensating steady state errors; systems types. Lab 4. Digital control of an HVAClike thermal system.  Franklin Ch4.  
Week 8. March 14  Midterm exams 
Lecture 16. Dynamic errors; PID control; Limitations of P, PI, PD controllers; Introduction to root locus design; Lecture 17. Motivational examples; MATLAB commands for drawing rootlocus; general properties of root loci; Midterm Exam.  Franklin Ch4, 5; Astrom 10.1; 
Week 9. March 21  Mid semester break  
Week 10. March 28  Lecture 18. Examples of design using root locus; effects of additional poles and zeros;
Lecture 19. introduction to dynamic compensation; Lab 5. Anti windup in controller design.  Franklin Ch 5;  
Week 11. April 4  Lecture 20. Examples of rootlocus design;
Lecture 21. Lead, lag and notch compensators using root locus. Lab 6. Digital speed control of DC motor.  Franklin Ch 5;  
Week 12. April 11  Lecture 22. Frequency domain design methods; Frequency response of a control system; bandwidth; Overshoots
Lecture 23. Frequency response (contd.); Second order systems; Bode plots; Neutral stability Lab 7. Discretetime controller implementation.  Franklin Ch 6;  
Week 13. April 18  Lecture 24. Cauchy's residue theorem; Encirclement property
Lecture 25. Argument principle; Nyquist plots; Examples Lab 8. Practical system identification.  Franklin Ch 6;  
Week 14. April 25  Lecture 26. Gain and Phase Margins; Frequency based control design basics
Lecture 27. Minimum phase systems; Bode's gainphase relationship; PD control reinterpreted; Lab 9. Inverted pendulum stabilization using state space methods.  Franklin Ch 6;  
Week 15. May 2  Lecture 28. PD control by lead compensation; design examples
Lecture 29. PI control; lag compensation; laglead compensation; PID control Lab 10. Case Study on Control System Design.  Franklin Ch 6;  
Week 16. May 9  May 9. Last day of classes; May 1011. Reading and Reviewing period; May 1218. Final Exams.  
Week 17. May 16  May 1421. Final Exams  
Week 18. May 23  May 1927. Semester break; May 31. Final grades submission 