Cleveland State University
Department of Electrical and Computer Engineering
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.
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
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.
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
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
Root Locus Method Chapter 7
7 Frequency Response and Bode Plots Chapter 8
8 Nyquist Criterion and Stability Margin Chapter 9
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