STANBUL TECHNICAL UNIVERSITY Department of Mechanical Engineering

MAK 331E System Dynamics and Control

Fall 2013-2014
Instructors: Assoc. Prof. Kenan R. Kutlu Assist. Prof. Ayhan Kural Assoc. Prof. Erdin Altu

CRN: 12530 CRN: 12529 CRN: 15297

R362 (wed.), A363 (frid.) R354 (wed.), A101 (frid.) A201

Catalog Description: Introduction to system dynamics and control, Transfer function of linear systems. Linearization, Transient response analysis, Stability analysis, Basic control algorithms and structures, PID tuning methods, Frequency response analysis, Basic controller design methods and examples. Textbooks: 1. Modern Control Engineering, K. Ogata, Prentice Hall, ISBNs: 0136156738 / 9780136156734 / 9788120320451 / 0130609072 / 0130432548 / 0132273071 2. Modern Control Systems, R.C. Dorf & R.H. Bishop, Addison-Wesley, ISBNs: 9780132270281 / 0132270285 / 0131277650 / 0130306606 / 0201308649 Other References:
1. 2. 3. 4. 5. 6. 7. Control Systems Engineering, Norman S. Nise - John Wiley&Sons, Inc. Automatic Control Systems, Benjamin C. Kuo, Farid Golnaraghi John Wiley&Sons, Inc. Feedback Control of Dynamics Systems, Franklin Powell, Emami Naeimi -Addision Wesley Otomatik Kontrol Temelleri, N. zda, T. Dinibtn, A. Kuzucu Birsen The Student Edition of MATLAB, Prentice Hall. The Student Edition of SIMULINK, Prentice Hall. R. H. Bishop, 1997, Modern Control Systems Analysis and Design Using MATLAB and SIMULINK, Prentice Hall. 8. B. Shahian, M. Hassul, Control System Design Using MATLAB, Prentice Hall. 9. Web based control tutorial for MATLAB/ SIMULINK located http://www.engin.umich.edu/class/ctms.

Rules: 1) Attendance to at least 70% of class hours AND at least 35/100 of Midterm average are necessary for admission to the Final exam. 2) Medical reports for midterms will NOT be accepted by the instructors. No make-up exam will be given without official approval of the Mechanical Engineering Department. 3) Copied or (suspiciously) similar Projects will get 0 (zero) point. 4) Late homework assignments will NOT be accepted. 5) Homework assignments and project will require Matlab programming. 6) Some weeks there will be an extra hour for Matlab demonstrations and problem solving. Attendance will not be compulsory. 7) The ITU e-Learning system Ninova will be used for HW assignments and various announcements. Software: The programs MATLAB and Simulink by MathWorks Inc. (all registered trademarks) are available in the university. Homework assignments will require the use of these programs.

Weekly Course Program Topics Ogata, 4th ed. Introduction to System Dynamics and Control chapter 1, pp. 1-8 Laplace Transformations Linearization Transfer Functions and Block Diagrams chapter 2, pp. 9-52 chapter 3, pp. 112-114 chapter 3, pp. 55-70

Dorf&Bishop, 12th ed. chapter 1 chapter 2 chapter 2, pp.55-58 chapter 2, pp.79-84 chapters 2, 3 chapter 4 chapter 4 chapter 7, pp.480-483 chapter 6, pp.386-399 chapter 7, pp.487-492 chapter 5 chapter 8

Mathematical Modeling of Dynamic Systems chapter 3, pp. 53-151 State-space modeling Transient and Steady-State Response of Dynamic chapter 5, pp. 219-275 Systems Feedback Control, PID Control chapter 5, pp. 281-288 Stability, Routh Method PID Tuning Methods Control System Performance Frequency Response Analysis (Bode Plots, Nyquist Locus, Bandwidth, Gain and Phase Margins) chapter 5, pp. 275-281 chapter 10, pp. 681-691 chapter 5 chapter 8, pp. 492-617

Grading Policy:
Quantity Total Effect %

Midterm Exams Homeworks Project Final Exam

2 2 1 1

40 10 10 40

MAK331E TERM PROJECT

The term project is a group work. Each group may be composed of 2 or 3 students with the same CRN. Each group will be given a different control example and work independently. The procedure for the project is outlined below. Work groups will be assigned an example of a feedback control system from suggested textbooks. Show your system to your assistant. Please have your group members names and project title registered before or after a class session. Projects copied directly from the Control Tutorials for Matlab or any other website will NOT be accepted. Projects that almost complete solutions are given in the textbooks such as inverted pendulum, hard disk drive or DC motor are NOT accepted, but you can use them as examples. Do not forget to comment on every step, graph, etc. All figures should have captions and axes on all graphs should be labeled. Project will be graded based on the completeness and the degree of difficulty. Completeness is more important than degree of difficulty. Write the project title, your group members names & numbers and also instructors name on the cover page. Each group will upload only one report via Ninova in MSWord format. Please use the assigned numbers before your solution in the report.

PROJECT STEPS FOR PART 1: The following steps will be accepted as HW1 and submitted via Ninova before the first Midterm exam 1) (If available) give the differential equations of the system, try obtaining the transfer function yourself. 2) Briefly explain how the system works and what the components are by drawing a block diagram of the system and answer following questions; a) What is the variable to be controlled? (temperature of the room or speed of an engine, etc.) b) How is it controlled? (type of feedback measurement sensor, type of actuator, etc.) c) What is the desired performance criteria/objective of the control system? 3) Analyze the open-loop characteristics of the system a) Show the location of zero(s) and poles in S-plane. b) Calculate the impulse response of the system by applying partial fraction and Laplace Transformation, plot time versus output graphic c) Calculate the unit-step response of the system by applying partial fraction and Laplace Transformation, plot time versus output graphic d) Use Matlab to obtain the impulse response and step response of the system. Compare with your calculations in (b) and (c) e) Comment on the pole locations and the response of the system. Verify the results using the Final Value Theorem. 4) Include your references in the report. PROJECT STEPS FOR PART 2: This part will be accepted as HW2 and also submitted via Ninova before the second Midterm exam 5) Obtain the closed loop transfer function and block diagram of the system firstly using a simple proportional controller. Calculate the range of K where the system is stable using Routh Criteria. 6) Depending on the system type (type 0, Type 1, etc.) and the performance measures of your system (such as fast response, zero steady-state error, etc.) suggest a PI, PD or PID controller. Try using Ziegler-Nichols Method to tune the controller coefficients. Obtain the final response and report your conclusion. An alternate method to find the controller coefficients is that selecting the most appropriate pole location and finding the controller that will relocate the poles to desired locations. 7) If any of the steps requested in the homework is not applicable to your system, explain the situation clearly and state the reasons that prevent the step to be applied for your system in order to get points for that step. (such as any of the Ziegler-Nichols methods). TERM PROJECT: Finalize your project with following steps and resubmit as term project before the Final exam 8) Examine the Frequency Response of the system and point out the bandwidth, phase and gain margin of the system. Repeat this step for a) open loop system b) closed-loop system with proportional controller c) closed-loop system with the final version of your controller given in the step 6. 9) Observe the effects of P-I-D terms on the phase and gain margin of the system. 10) Write a conclusion explaining whether you have achieved the goal(s) of your project given with some performance criteria to start with in the step 2-c. 11) Include all references at the end of your report.