ME 451-Control Systems, Spring 2011

---

Announcements

• For more control design examples from the textbook, 
• Please see Section 10.5 "Phase-lead design using the root locus" and examples therein.
• Please see Section 10.7 "Phase-lag design using the root locus" and examples therein.
• More examples are here
• More here.
• Sam's solution to exam 2 has been posted. The average was 86.86.
• Solution to HW6 has been posted.
• I will review materials for exam 2 on Monday.
• Final exam will be held on May 2nd, 12:45-2:45pm as scheduled in http://www.reg.msu.edu/roinfo/calendar/FinalExamSS11.asp
• The scope includes all materials covered by lectures and homework.
• You can bring three pages cheat sheet for the final exam.
• Laplace Tranformation Table will be given if it is necessary.

• Midterm exam 2 will be held on April 20th Wednesday in class. 
• The scope is upto Lecture 17 and hw6.
• You can bring a 1 page (one sideded)  cheat sheet for  Exam 2.
• Laplace Tranformation Table will be given if it is necessary.

• Solution to HW5 is uploaded.
• HW6 has been uploaded.
• An example code for HW5 is given here. You can have a plot where you vary zeta for a fixed wn and vice versa.

• Root locus was invented by Walter R. Evans
• HW5 is uploaded.
• Solution to HW4 has been uploaded.

• Control Systems are everywhere.
• Industrial Applications and Implementation of Feedback Control Theory:
• Analog-to-digital converter (ADC or A/D)
• Digital-to-analog converter (DAC or D/A)
• Micro-controller

• Mechatronics
• ME 456 by Prof Radcliff
• Journals
• IEEE/ASME Transactions on Mechatronics
• Mechatronics
• Embeded system
• ECE 331 (microprocessors and dsp), and ECE 416 (digital control) etc.
• Robotics
• ECE 818
• Journals and Robotics and Automation Society
  
• Digital signal processing (DSP)
• ECE 366 (intro to signal processing) and ECE 466 (DSP filter design) etc.

• More control theory (graduate level):
• Linear Systems and Controls: ME/ECE 851-Fall 2010 http://www.egr.msu.edu/classes/me851/jchoi/
• Nonlinear Systems and Control: ME/ECE 859-Spring 2010 http://www.egr.msu.edu/classes/me859/jchoi/2010/
• Optimal Control: ME/ECE 853
• Adaptive Control: ECE 856 - Fall 2010 http://www.egr.msu.edu/~xbtan/Courses/Fall10-ECE856/ECE856_Fall10.html
• Robust Control: ME/ECE 854
• System identification 

• Control journals
• ASME Journal of Dynamic Systems, Meaurement, and Control
• IEEE Transactions on Automatic Control
• IEEE Transactions on Control Systems Technology
  
• Automatica
  
• International Journal of Robust and Nonlinear Control
• Control Engineering Practice

• Extra credits available for Problem 2-(c) of Exam 1
• Redo Problem 2-(c).
• Clearly state what you did wrong or did not understand before and what you understand now.
• For example: I did not know how to compute the pole of the closed loop system. etc....
• Staple it to your exam and submit that to me.
• You will get back some credits proportional to what you lost on this problem.
• HW4 has been posted.
• Exam 1 solution was reviewed in the class.
• Some notes from the review is here.
• HW3 solution has been uploaded.

• Exam 1 will be on Wednesday March 2nd.
• It will cover up to Lecture 11 and hws covered by Friday Feb 25th.
• You can bring a 1 page (one sideded)  cheat sheet for  Exam 1.
• Laplace Tranformation Table will be given if it is necessary.
• Feedback Systems:
• Negative feedback
• Positive feedback
• Stability: 
• Unstable platform balancing robot built by Cody
• Tacoma Narrows Bridge Collapse
• Solution to HW1 is posted.
• HW2 has been posted.
• Solution to the math quiz has been posted: Solution to the math quiz 2011.

• Lab website has been posted.
• Prepare for the math quiz with old math quizzes in http://www.egr.msu.edu/classes/me451/radcliff/Handouts/index.html

---

Instructor: Jongeun Choi, Assisntant Professor

2459 Engineering Building
East Lansing, MI 48824, Phone: (517)-432-3164 

Email:
 
Website: http://www.egr.msu.edu/~jchoi/

Lecturer: M W F: 12:40pm-1:30pm, 155 Communication Arts Bldg 

Office hours: M W F 10:10-11:00am, 2459 Engineering Building,   Extra hours can be arranged 



Laboratory Instructor: Ranjan Mukherjee, Professor

Email: mukherji at egr dot msu.edu
2445 Engineering Building
East Lansing, MI 48824, Phone: (517)-355-5198

Lab website: http://www.egr.msu.edu/classes/me451/jchoi/2011/lab

TA for Homework: Andrey Maslennikov

Email: amas at msu dot edu

TA will grade homework and other TAs are available during laboratory sessions to help students with homework.

 

---

Course Description
Mathematical modeling of dynamic systems. Standard feedback control formulation. Transient and sinusoidal steady-state analysis. Time and frequency domain controller synthesis.

---

---

Handouts and Notes  

• Lecture 0-[1-10-2011], Course information, complex numbers and logarithm.
• Lecture 1-[1-12-2011], Introduction to feedack control.
• Lecture 2-[1-14-2011], Laplace transform.
• Lecture 2 (old version) Laplace transform  
• Lecture 3-[1-21-2011],  ODE solution using Laplace transform
• Here is the complete notes-[1-21-2011].
• Lecture 4-[1-24-11], Transfer function, modeling of electrical systems.
• Lecture 4, transfer function-[1-24-11] .
• Lecture 4, electric circuit-[1-24-11].
  
• Lecture 5 [2-1-11], Modeling of mechanical systems.
• Lecture 5 [2-1-11]-complete.
• quarter car model 1
• quarter car model 2
• Lecture 6 [2-7-11], Block diagrams.
• Lecture 7 [2-9-11], Linearization
  
• Additional linearization note from Dr. Radcliffe. 
• Lecture 8, Modeling of DC motors [2-11-11]
• Lecture 8 complete notes [2-11-11]
• Lecture 9, Stability[2-16-11]
• Lecture 10 [2-21-11], Routh Hurwitz criterion.
• Lecture 10, complete notes [2-21-11]
• Lecture 11 [2-25-11], Routh Hurwitz criterion: Control examples.
• Lecture 11 complete notes [2-25-11]
• Lecture 12 [3-11-11], Time domain specifications.
• Lecture 13 [3-14-11], Steady state error.
• Extra note about PID controller.
• Ship stabilization [2-21-11].
• Two input case [3-23-11].
• Lecture 14 [2-21-11], Time respnose of 1st order systems.
• Lecture 15 [3-30-11], Time response of 2nd oder systems.
• Lecture 16 [4-1-11], Root locus,
• Lecture 17, Root locus: examples.
• extra notes
• Lecture 18, Root locus: sketch of proofs.
• examples for angle of departure
  
• Lecture 19, Root locus, multiple parameter design.
• Lecture 20, Root locus, lead compensator design.
• Lecture 21, Root locus, Lag compensator, Lead-lag compensator design.
• Effect of adding poles (integrators)
• Lecture 22, Frequency response
• Lecture 23, Bode plots.
• Lecture 24, Bode plots.
• Relative stability.
• Frequency response controller desgin (written by Dr. Radcliffe)
• matlab file

---

Old Exams and HW Solutions

• http://www.egr.msu.edu/classes/me451/radcliff/Handouts/index.html
• Solution to the math quiz 2011.
• HW1 solution. A typo has been corrected here. The answer is still correct.
• HW2 solution. 
• HW3 solution.
• Exam 1 solution.
• HW4 solution.
• HW5 solution.
• HW6 solution.
• Exam 2 solution.

 

---

Homework

• HW1: due Friday Feb 4.
• HW2: due Wednesday Feb 16.
• HW3: due Friday Feb 25.
• HW4: due Wednesday March 23.
• HW5: due Monday April 4.
• HW6: due Friday April 15.

Grading

---

Note 

1. Homework will be done in one week from the day it is assigned.
2. laboratory attendance and a minimum of  70% lab grade in the laboratory reports will be required to pass the course.