Control System Engineering

Instructor: Prof. John Wen (ECSE/CAT) Course web site:

http://www.cat.rpi.edu/~wen/ECSE444F01

Course Objective
Teach the fundamentals related to feedback control of dynamical systems including
modeling analysis (stability and performance) synthesis (controller design) computational tools (MATLAB and Simulink) mathematical tools experimentation vs. simulation

Format of Course
Design oriented
No Exams! In-class exercises (continue as homework) 4 design projects (presentation of your results is very important!) Remote experimentation Use of computation design tools (MATLAB, Simulink) emphasized

Control is Everywhere
Mechanical systems (structure, vehicle, CD) Thermal systems (temperature, engine) Electrical systems (power system, circuit) Network (traffic control) Biomedical (drug infusion) ...

A disk drive example

Given a disk drive read/write arm at an angle driven with input voltage V. How do we choose V to drive to d? Max acc and then max dec (open loop) Measure and use error to adjust V (closed loop feedback)
controller amp

Issues
System description (e.g., rigid body

&& + B & = KV + d I Parametric uncertainty (e.g., damping) Effect of noise (sensitivity) Choice of feedback control law Gain tuning to achieve stability and performance Digital implementation
assumption)

Mathematical Tools
Differential equation / difference
equation -- time functions

Frequency domain analysis (Fourier

transform, FFT) -- Complex variables

Matrix analysis (especially in state

variable methods)

Preparation
Materials from Signals & Systems
complex numbers plotting a time signal:
x (t ) = e
2 t

a +b j

c +d j

= e + f j = r e j
n

sin( 4 t +

x n = ( . 5 ) cos( 2 n +

Laplace Transform / Z- Transform Fourier Transform Poles/zeros Simulation diagram Stability Bode plot

Quick Overview of MATLAB

Vectors Matrices Polynomials Transfer functions Functions Plotting Printing Using M-files in MATLAB Getting help in MATLAB
http://www.engin.umich.edu/group/ctm/

Will need Simulink also

In-Class Exercise
Send an email to wen@cat.rpi.edu with the following information: name, dept, year (junior/senior/master/ph.d.), email address (so I can add you to the course mailing list). Background review from complex variables and signals & systems. Will not count toward final grade, but will provide me with information on your background.

Demo
Pendubot Horizontal Inverted Pendulum (will encounter in Project #4)
Two phases: swing up and balancing
Swing up involves dealing with the nonlinear dynamics and is dealt with in Nonlinear Control. Balancing involves stabilization about the vertical equilibrium control design for the linearized system, covered in this course.

Remote laboratory: Servo positioner (projects 1-3). use Windows media player and
URL: http://128.113.70.54:8080 (pan/tilt will come later)