Cleveland State University

Department of Electrical and Computer Engineering


EEC 440

Control Systems

Fall 2008


Description:      EEC 440 Control Systems (4-0-4). Prerequisites: EEC 314. Analysis and design of feedback control systems. Topics covered include: the use of feedback; modeling and the use of mathematical model in understanding behavior of dynamic systems; useful design tools such as PID, root-locus, loop shaping, pole placement; robustness in stability and performance; real world problem solving using control theory; digital control characteristics and design methods.


Goal:                This course is designed to give students the ability to: understand the basic concepts of feedback and see how they are used for control purposes; derive mathematical model based on first principle or time response and relate its parameters to the behavior of dynamic systems; solve control problems by using appropriate design tools; understand design constraints such as model inaccuracies and actuator saturation, and produce robust control solutions; implement the controller digitally.



By Topic:        

1.      Linear differential equations

2.      Linear algebra

3.      Laplace transform analysis of linear systems

4.      Transfer function, poles and zeros

5.      Frequency response of linear systems

6.      Bode diagrams


Time:                MWF 11:00 am to 12:05 pm


Location:          SH 324


Instructor:         Zhiqiang Gao



Stilwell Hall 316


(216) 687-3528

Office Hours:

MWF 12:15-1:30


Text:                 R. Dorf and R. Bishop, Modern Control Systems, 9th or 10th ed., Prentice Hall.

                        (both editions present the same materials but the former is much cheaper at amazon)

References:       Gene F. Franklin, J. David Powell, & Abbas Emami-Naeini, Feedback Control of Dynamic Systems, 4th ed., Prentice Hall, 2002

Norman S. Nise, Control Systems Engineering, 3rd ed., John Wiley& Sons, 2000

Karl J. Åström & Tore Hägglund, PID Controllers: Theory, Design and Tuning, 2nd ed., ISA Press, 1995

George H. Ellis, Control System Design Guide, 3rd ed., Elsevier Academic Press, 2004


Resources:        Matlab, Simulink and the Control System Toolbox are used extensively. They are available in the engineering computer lab, but purchase is recommended.


Project:            A serial project will be assigned to let you practice what you learn.  You are encouraged to perform research independent of the class material, but all external material must be referenced and assistance acknowledged.  This is not a team project; all reports must be in your own words, and plagiarized reports will be given a grade of zero.  Late reports will be accepted, with an automatic reduction in the score.  Reports must be neat, precise, correct, and logically presented using the distributed reference (V. Li, Hints on writing technical papers and making presentations, IEEE Transactions on Education, vol. 42, pp.134-137, May 1999).  The report should be stapled in the upper left corner.  You will be graded on presentation as well as content.  Proofread your work for spelling and grammar errors. 


Tests:               Exams will be closed-book with one 8½ x 11 note sheet.  Blank worksheets will be provided.  No electronic devices (e.g., calculators or laptops) will be necessary or allowed.  No makeup quizzes or exams will be given; you can be excused, however, from a test/quiz in case of an emergency if a written note is provided.









Comprehensive Final




1.      Arrive on time; do not disturb others. 

2.      No food and drink in class.

3.      Turn off your mobile phone.

4.      No computer use during lectures

EEC 440 Fall 2008 Schedule:


    Week                      Topics                                                                         Reading                     

     1                             Introduction to feedback concept                                  Chapt. 1                      

                                    Closing the Loop: the empirical PID design                    Matlab User’s Guide

                                    Math Review                                                                2.1 to 2.4

                                    Intro to Matlab/Simulink                                              


     2                            Modeling: The transfer function method             2.5-2.12

                                    Block Diagrams

                                    Computer simulation using Simulink


     3                             A motion control theme problem                                   handout

                                    Closing the loop                                                            Chapter 4


     4                             Transient Performance                                      Chapter 5


     5                             Review and Midterm Test I


     6                             Analysis of Control Systems                                         

                                    Stability,                                                                       6.1

                                    Root Locus Method                                                     Chapter 7


     7                             Frequency Response and Bode Plots                           Chapter 8


     8                             Nyquist Criterion and Stability Margin               Chapter 9

                                    Stability Robustness


     9                             Review and Midterm test II


10                           Design criteria: response, ss error, disturbance

Noise, uncertainty and margin

                                    Design Method I: PID w/ Root Locus               Chapter 10


     11                           Design Method II: Robust Design                                  Chapter 12

                                    Loop Shaping method                                                   Handout


     12                           State Space model and design                                       Chapter 3 and 11


 13                           Digital Control Systems

z-transform, sampling, stability, simulation                      Chapter 13


     14                           Digital Control Design and implementation                     Chapter 13


     15                           Review