This course provides an introduction to the analysis, design, and applications of continuous-time, linear control systems. Topics include transfer function representations of open and closed loop systems, time domain specifications and steady state error, time and frequency response, and stability criteria. It includes a treatment of methods for the analysis of control systems based on the Root Locus and the Nyquist criterion, and their use in the design of PID and lead-lag compensation. Laboratory exercises and the use of computer-aided design tools are included in this course.
The objective of this course is to develop an understanding for the analysis, design, and applications of feedback control systems. The emphasis of the course is the modeling and analysis of continuous-time time-invariant systems and an introduction to controller design. The course is intended for undergraduate students in Engineering Science.
William A. Gruver
Tel: 604-291-4339
Fax: 604-291-4951
Office: ASB 10837
Office hours by appointment (contact by e-mail)
gruver@cs.sfu.ca
www.ensc.sfu.ca/research/idea/personel/personel.htm
Guangqing Jia
M W 11 AM - 12 noon
ASB 10814
gjia@sfu.ca
Edward Chen
T Th 2-3 PM
ASB 10814
ekchen@sfu.ca
Mon 3:30-4:50 PM, Room AQ 3154
Wed 3:30-4:50 PM, Room AQ 3154
Norman S. Nise, Control Systems Engineering, 4th ed., John Wiley & Sons, 2004 (available in the book store).
R. C. Dorf and R.H. Bishop, Modern Control Systems, 9th ed., Addison Wesley, 2000.
G. F. Franklin, J. D. Powell, and A. Emami-Naeini, Feedback Control of Dynamic Systems, 4th ed., Addison Wesley, 2002.
K. Ogata, Modern Control Engineering, 4th ed., Prentice Hall, 2001.
R. T. Stefani, C.J. Savant, B. Shahian, and G. H. Hostetter, Design of Feedback Control Systems, 4th ed., Oxford University Press, 2002.
Grading Policy
| Midterm Exam | 30% |
| Final Exam | 40% |
| Homework Assignments | 10% |
| Laboratory Assignments | 20% |
Homework and laboratory assignments will be available for download from the course web page at least one week prior to the due date. Completed assignments should be submitted to main office or the TAs by 3:30 PM Wednesday during the week in which the assignment is due. If it will be necesssary to submit your assignment late, send an e-mail to the TA and copy Dr. Gruver prior to the due date. Include the reason for the delay and the date when you plan to submit the assignment. Failure to comply with this rule may result in a mark of zero being recorded. Late submissions will not accepted after the review session.
Failure to take the mid term exams or the final exam during the assigned class period will result in a mark of zero being recorded unless you have contacted Dr. Gruver prior to the exam. Make-up exams will be given only under exceptional circumstances.
Course Web Page: Please check this page frequently for information concerning the course.
http://www.ensc.sfu.ca/research/idea/courses/ENSC383_06_outline.htm.
E-mail: Check your e-mail daily for messages concerning class meetings, exams, homework, lab assignments.
Lectures: You are responsible for all business conducted during the scheduled class period, including announcements that may be given.
Homework: The homework assignments are intended to reinforce the major concepts and to serve as a measure of how well you understand the course. The homework, however, is not necessarily representative of questions that will be asked on the exams.
Labs: Laboratory experiments are an essential part of this course because they will provide you with practice in the control of physical systems. Exercises will be assigned using equipment in the lab. You may work in groups of 3 persons and submit one report for each group. The report must be limited to 10 pages and include all data. Additional pages may be disregarded.
Exams: It is very important that you understand the concepts covered in this course. Exams will emphasize comprehension of the course content, not memorization. You may bring to the exams one 8.5"x11" page with handwritten notes on either side. Please use pencil rather than pen for writing the exam. All work must be shown on the exam booklet to receive full credit.
| Week | Lecture | Topics | Reading | Assignment Due |
| 1 | May 8,10 | Introduction, diagrams, prelab, Matlab tutorial | Chap. 1.1-1.4 | |
| 2 | May 15,17 | Transfer function modeling | Chap. 2.1-2.8 | Hw1 |
| 3 | May 24 | Dynamic response | Chap. 4.1-4.8 | |
| 4 | May 29,31 | Block diagrams, signal flow graphs, | Chap. 5.1-5.5 | Hw2 |
| 5 | Jun 5,7 | Stability, Routh criterion, PID control | Chap. 6.1-6.4 | Lab1 |
| 6 | Jun 12,14 | Steady-state error analysis, Simulink tutorial | Chap. 7.1-7.4 | Hw3 |
| 7 | Jun 19,21 | Review, midterm exam | ||
| 8 | Jun 26,28 | Root locus construction | Chap. 8.1-8.5 | |
| 9 | Jul 5 | Root locus analysis | Chap. 8.6-8.9 | Lab2 |
| 10 | Jul 10,12 | Root locus design | Chap. 9.1-9.6 | Hw4 |
| 11 | Jul 17,19 | Controller design, frequency response | Chap. 10.1-10.5 | Lab3 |
| 12 | Jul 24,26 | Nyquist analysis and design | Chap. 10.6-10.9 | Hw5 |
| 13 | Jul 31,Aug 2 | Compensation design, review | Chap. 11.1-11.5 | Hw6 |
| 14 | Aug 11 | 3:30-6:30 PM, final exam in K9500 |
Student Companion Site for Texbook
Tutorial for Control System Toolbox for MATLAB
Revised: July 23, 2006