EnvSus-lectures
From CYPHYNETS
| Control Engineering for Environment and Sustainability |
|---|
Instructors
Dr. Abubakr Muhammad, Assistant Professor of Electrical Engineering
Email: abubakr [at] lums.edu.pk
Lecture Series 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. State-space 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 closed-loop control and their respective merits/demerits.
- Stability and its relationship with feedback.
- Techniques of linear time-invariant (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.
Pre-requisites
Courses
EE-310. Signals and Systems EE-361. Feedback Control Systems
Topics
Laplace transform, differential equations, programming in MATLAB and C.
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 On-Off and PID controllers Lecture 4. Review of Laplace transforms; impulse response; convolution; Lab 1. Introduction to SIMULINK environment and real-time 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 Milad-un-Nabi | 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; Pole-Zero 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 Routh-Hurtwitz |
| 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 HVAC-like 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 root-locus; 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 root-locus 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. Discrete-time 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 gain-phase relationship; PD control re-interpreted; 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; lag-lead 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 10-11. Reading and Reviewing period; May 12-18. Final Exams. | ||
| Week 17. May 16 | May 14-21. Final Exams | ||
| Week 18. May 23 | May 19-27. Semester break; May 31. Final grades submission |
