ECE-320 Linear Control Systems Fall 2009 Dr. Bob Throne x-8414, Room D-221 Text: There is no single textbook that works for all topics. For most of the topics we cover, I will put some notes on the class website. These notes are similar to the notes I will be using in class but will generally have different examples than those I use in class. However, these notes are not complete yet. GRADING POLICY Exam 1 15% Exam 2 15% Final Exam 25% Labs 20% Homework/Matlab/Simulink 15% Quizes 10% Notes: (1) You must have a passing average (greater than or equal to 60%) on the exams to pass the class! (2) Homework assignments are due at the beginning of class on Tuesday. No late homework will be accepted without prior approval. (3) You must acceptably complete each lab to pass the class. (4) For the majority of the labs, you will be required in the preceding homework to derive some relationships we will be using in lab or simulate a system (or systems). If you understand the homework the lab should not be a problem. You will be told which parts of the homework are required for the lab. You will receive a 0 on the corresponding lab if you have not done this acceptably! However, you must still complete the homework and do the lab to pass the course. (5) Many of the homework problems will require you to use Matlab or Simulink as part of the problem. If you do not do these parts of the problem, do not expect to receive credit for any parts of the problem. (6) You are expected to do your own work. You can certainly talk with each other and help each other, but the work you hand in should be your own. As an example, if two people hand in the same Simulink plot and both came from the same directory, neither will receive any points! (7) Unless specifically told otherwise on a particular problem, you are expected to work out the problem by hand (or use Matlab). If you write on your assignment that you used Maple and are copying the answer, expect to get no points. You can use Maple to check your answers. You cannot turn in any Maple code or plot as part of the solution to a problem.Quizes: Each week we will have a quiz, usually (though not always) on Thursday. Usually before the quiz a “practice quiz” will be posted to give you an idea of the kinds of problems you are expected to be able to solve on that week’s quiz. Labs: 1) You cannot use your laptop during the lab except for transferring files or running simulations. I am sick and tired of people surfing the web and instant messaging during lab time, instead of paying attention to the lab, and then whining they did not have time to do the lab. Points will be deducted for inappropriate behavior. 2) You can work individually or in groups of two. 3) Your lab must be printed out before coming to lab each week. I reserve the right to deduct half of the lab points if you don't have your lab printed out at the time the bell rings. I will try and give you a copy of the lab on Monday in class, but if I don’t you need to print it out before lab. 4) You need to read the lab before you come to lab. If you read through the lab you will (hopefully) get the big picture and understand what we are trying to do. If you just blindly follow the steps in the lab with no thought as to where you are going, you will get little from the labs. 5) You must write a short memo summarizing your results. This memo is due before your next lab period. You should include as attachments in the memo the plots and you made for the lab. The lab write up is generally to be computer generated and each graph needs to be labeled as a figure (with a caption). Usually students find it easier to just copy and paste all the figures they need into a document and explain the figure or answer questions as they are doing the lab. For the most part, the memos should be short since I mostly look at the picture.SYLLABUS Class 1 (9/3) - Laplace Transforms/Partial Fractions Class 2 (9/7) – Laplace Transforms/Partial Fractions Class 3 (9/8) – Laplace Transforms, Final Value Theorem Lab 1 - Matlab, Simulink, the ECP systems Class 4 (9/10) – Steady State Errors Class 5 (9/14) - Response of 2nd Order Systems, Performance Specifications Class 6 (9/15) - Characteristic Polynomial and Modes, Stability Lab 2 – Time Domain Identification of 2nd Order Systems Class 7 (9/17) – Block Diagram Manipulation Class 8 (9/21) – Model Matching (ITAE, Deadbeat) Class 9 (9/22) - Quadratic Optimal Systems Lab 3 - Time and Frequency Domain System Identification (two 1 dof systems) Class 10 (9/24) – Quadratic Optimal Systems Class 11 (9/28) – Steady State Errors, System Type Class 12 (9/29) – Root Locus for Compensator Design Lab 4 – ITAE, Deadbeat, and Quadratic Optimal Systems Class 13 (10/1) – Exam 1 Class 14 (10/5) – Root Locus for Compensator Design Class 15 (10/6) – Root Locus for Compensator Design Lab 5 – Root Locus Design (Matlab's sisotool) Class 16 (10/8) – Lag Compensators Class 17 (10/12) - Coefficient Matching - Diophantine Equations Class 18 (10/13) – Coefficient Matching - Diophantine Equations Lab 6 – Root Locus (PID) Design Class 19 (10/19) – System Sensitivity Class 20 (10/20) – System Sensitivity Lab 7 - PI-D and I-PD Configurations Class 21 (10/22) – Routh Array Class 22 (10/26) – Routh Array Class 23 (10/27) – State Variable Systems Lab 8 – Coefficient Matching- Diophantine Equations Class 24 (10/29) – Exam 2 Class 25 (11/2) – State Variable Systems Class 26 (11/3) - Bode Plots, Phase and Gain Margins Lab 9 – State variable control for 1degree of freedom systems, regulator systems Class 27 (11/5) - Bode Plots, Phase and Gain Margins Class 28 (11/9) - Bode Plots, Phase Lead Compensators Class 29 (11/10) – Nyquist Plots Lab 10 - State Variable Control of an Inverted Pendulum Class 30 (11/12) – Nyquist
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