Cleveland State University

Department of Electrical and Computer Engineering


EEC 440 Control Systems  

Spring 2009



Instructor:        Dr. Lili Dong, Assistant Professor of Electrical Engineering

                           Office: Room 334   Stillwell Hall

                             Phone: 216-687-5312



Office Hour:     MW 1:30pm-3:30pm or by appointments


Content:            Topics covered include: physical system modeling; feedback control system design; introduction of design tools such as PID, root-locus, loop shaping, and pole placement; stability and performance analysis of feedback control systems; real world problem solving using control theory.


Objectives:       This course is designed to give students the ability to

·        Understand the operation of feedback control systems;  

·        Analyze the behavior of existing control systems;

·        Design feedback controllers for such systems using one of several design methodologies so that given performance specifications are met;


Textbook:          Norman S. Nise, Control Systems Engineering, 4th Edition, John Wiley & Son,

                            Inc., 2004.



References:      R. Dorf and R. Bishop, Modern Control Systems, 11th ed., Prentice Hall, 2008.

                            G. F. Franklin, J. D. Powell, A. Emami-Naeini, Feedback Control of Dynamic Systems, 5th ed., Prentice Hall, 2006.

                            G. C. Goodwin, S. F. Graebe, Control System Design, Prentice Hall, 2001.        


Prerequisite:    EEC310 and EEC311: Electric Circuits


Resources:        Matlab, Simulink and the Control System Toolbox are used extensively. They are

                          available in the engineering computer lab, purchase of student version is     recommended.




Grading:           Project                                   20%

                             In-class quiz                          20%

                             Midterm Exam                      30%

                             Final Exam                            30%


Grading Scale:

                              A…………………………. .93-100

                              A minus…………………… 90-92

                              B plus……………………..  87-89

                              B………………………….. .83-86

                            B minus…………………...  80-82

                              C …………………….. …... 70-79

                              D…………………………… 60-69

                              F……..……………………. <60


Homework:     Homework is a major learning tool in this course. Homework assignment will be passed out and collected on every other Monday. NO LATE HOMEWORK will be accepted. The homework will be graded. However, the homework grade will NOT be counted towards final grade.


Projects:         Students are required to finish three Matlab/Simulink-based projects independently before the end of this semester. The projects will be collected on the dates specified in project assignments. NO LATE PROJECTS will be accepted. Students need to include Matlab codes or Simulink model and simulation results into the project reports. Students must print and sign their names on the first page of their project reports.


Exams:             Mid-term and final exams are scheduled on course outline. All exams are closed book and closed note with time limits strictly enforced.


Quizzes:             There are two in-class quizzes. The time of each quiz will be announced in class at least one week prior to the quiz. All quizzes are closed book and closed note with time limits strictly enforced.


Class Policies:


               Students are expected to attend ALL classes. If a student must be absent due to university business or illness, the student is obliged to contact the instructor PRIOR to the absence or tardiness. The instructor reserves the right to limit the quality/quantity of out-of-class assistance to students with excessive absences. If a student misses one third of classes, he/she will automatically FAIL this course.


No "make-up" work for missed assignments (homework and projects) will be given. 

No provisions are made for missing the Midterm or Final Exams, excepting a Doctor's written verification that the student was unable to attend due to serious injury or illness.  This verification will be confirmed.

No make-up quiz will be given only except that a timely (within one class period) and acceptable written excuse is presented to the instructor beforehand. Excuses normally will be accepted for personal illness or serious family emergencies only, and require immediate (within 24 hours) notification of the instructor.


               Under no circumstances should any two project reports (or any other assignments and test papers) be identical or overtly similar.  Group work is encouraged, however, every person must present their own work for credit. Everyone with the materially identical work will receive a grade of zero on that assignment or tests. CSU policies on Academic Misconduct will be strictly followed.


Course Site:


Others:             All important notices from instructor will be sent to students through emails.




Tentative Course Outline:

(Chapter 3, chapter 12, and chapter 13 of the textbook will not be covered in the course.)


 Week                    Topics                                                                                                      Reading


1                                                    Introduction to feedback concept and control systems                        Chapter1


2                                                    Physical system modeling: Transfer function method;                        Chapter 2

Block diagrams; Computer simulation in Matlab/Simulink                 Chapter 5

Review: Differential equations and Laplace transform                               


3                          System responses                                                                                  Chapter4


4                          Transient Performance of feedback control systems                             Chapter 7


5                          Analysis of control systems stability                                                     Chapter 6


6                          Root Locus Method                                                                               Chapter 8


7                          Root Locus Method                                                                               Chapter 8   

                            Midterm Exam


8                                                    PID design through root locus                                                               Chapter 9


9                                                    PID design through root locus                                                               Chapter 9


10                                                    Bode diagram and frequency response                                                 Chapter 10


11                                                    Nyquist criterion and stability margin                                                  Chapter 10              

Stability Robustness


  12                          PID controller design through frequency response                              Chapter 11


  13                          Robust Design, loop shaping method                                                   Chapter 11


14                         Review for final exam

Final exam is scheduled at 4:00pm-6:00pm on May 11, 2009.