EnvSuslectures
From CYPHYNETS
Control Engineering for Environment and Sustainability 

Instructors
Dr. Abubakr Muhammad, Assistant Professor of Electrical Engineering
Email: abubakr [at] lums.edu.pk
Course Description
In Spring 2015, we underwent an interesting and unusual experiment in our EE curriculum, where in an introductory control engineering course (EE361) we exposed our undergraduate students to issues of environment and sustainability. Designed as a series of 50 min recitations, we exposed students to contextual and societal issues in water, agriculture, disease etc., even while the content has strong examplebased connections to the main text. Large parts of the lectures are accessible to engineering students at the Junior / Sophomore level and to general science & engineering faculty.
Venue
EE361 Sec 1. Monday 11:30am. Venue. A4 EE361 Sec 2. Thurs. 9:30am. Venue. 10301.
General Objectives
 Introduce environmental issues and concepts of sustainability.
 How to connect technology to the realworld and solve societal grand challenges.
 An accessible introduction to cuttingedge research.
 Underline the importance of paying attention to the 'Right Problems!'
 Demonstrate how student involvement helps develop high impact research.
 Introduce students to the general issues of water and agriculture in Pakistan.
 Identify future areas of research and study.
Specific Objectives
 Introduce students to applications of control & robotics in everyday life.
 Demonstrate how to model complex systems like water and select appropriate abstraction and detail.
 Connect textbook knowledge of signals and systems to reallife control engineering.
 Present examples of singleinput singleoutput linear control design in complex scenarios.
Prerequisites
Courses EE310. Signals and Systems EE361. Feedback Control Systems
Topics Laplace transform, differential equations, basic signals & systems
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 