MTRE 4000 Advanced Controls Fall 2014

1. MTRE 4000Advanced ControlsFall 2014 Dr. Chan Ham

2. Class Schedule: • Aug. 13th: Quiz#1, reviewing of control & math background • Aug. 18th: Class overview • Aug. 20th: Sign up for class, agreement with class (name, email address, and signature) & 1st Lecture (Ch. 13)

3. Required technical background: Quiz#1 Closed-book & closed-note. No calculator • Matrix: inverse & determinant • Laplace Transform: including partial fraction expansion & inverse LT • Modeling of system dynamics (Transfer Function ): mechanical & electrical • Mason’s rule

4. An Option for Quiz #1 You can resubmit it on Wed, 8/20. The full mark will be 8 out of 10 (80%) The grading will be mainly depended on the detailed solving procedure rather than the correctness of the answer  One problem a page Attach your original Quiz #1, too. spsu.pbworks.com

5. Class Aug. 18th • Introduction to class: syllabus, major policies, and grading scheme • Class overview: subjects • Review of EE 4201 & Mathematical Backgrounds • Mason’s rule • Laplace Transform: including partial fraction expansion & inverse LT  z-transform • Modeling of system dynamics: mechanical & electrical • Matrix: inverse & determinant

6. Intro. to Class • Office Hours: Q343, cham@spsu.edu • M & W 1:30 PM – 3:00 PM & Tue 8:30AM – 9:30AM • By appointment (email preferred) • Class Website: http://spsu.pbworks.com/ • Announcements, solutions, etc • Policy: Attendance, HW, Test, & Others • Read class syllabus • No laptop or electronic devices during the class • Make sure everybody's fairness!

7. Tests: 60%, Open-book for Test 1~3 Will be announced at least one week in advance. The tentative coverage is: • Test 1: Digital Control Systems • Test 2: State-space Variable Modeling (SVM) & Analysis • Test 3: Control Design (SVM) & Modern Control Theories • Final Exam: Comprehensive, closed book & notes • 20 % each except Test 3 (count only the best 3 out of 4) • With “Best 3 out of 4” arrangement you may elect either to drop or not take (regardless of your reason) any one of the four scheduled tests  No make-up • If missed two tests with the written excuse from the instructor  Final may be 40% (35% if one of missed exams is TEST 3)

8. Homework and Quiz: 25% HW: assigned regularly, mostly once a 1~2 weeks • Grade only one problem randomly chosen  Quizif HW isn’t collected (solutions will be posted in advance) • One problem/page • Grading: • 10 points: correct answer & work all problems • 7~9 points: showed all necessary works regardless of the correctness of the final answer • 6 points: Late, but with all necessary works (within a week) • 4 points: same as the solution

9. Homework and Quiz: 25% • HW is due at the beginning of the class (tardy -3 points after 4:00 PM). • Students are encouraged to work together  Just don’t copy each other or from solution manual • HW: is based on the 5th ed. (solved the 6th ed. Problems?  - 2 penalty points) & will be posted.

10. Project: 20% • Both individual & term projects • Individual: Matlab/Simulink Simulations • Team, term project: 1~3 students • Topics (team project) • Design of a control system for a dynamic system: • Analysis, modeling, and design of a control system • Simulation using Matlab / Simulink • Survey and investigation of a state-of-art control or mechatronics system  Preparing Sr. Design Project • Introduction to the Project – on 9/4 • Project Schedule (TBA) • Proposal & Approval  Mid Report  Final Report & PPT Slides (Presentation by invitation)

11. Attendance • Attendance: mandatory • May be checked by HW submission & return: in case did not do HW, still submit a paper with your name • Also randomly checked • May be used as a bonus • Late attendance is counted as a half absences  - 2 penalty points/absence from the final class credit after 1.5 absences (e.g. two absences cause -4 while no penalty is given for 1.5 absences)

12. Introduction to Class • Major Topics • Mechatronics: Systems & Control • Basic theories and technical inspirations! • Control system applications •  Direction, coverage, and policy • Interested in control or not? For a good control or intellectual foundation • Essential for an interdisciplinary work and collaboration • For learning or just credits  should be fair!

13. Design of a Control System Class is based on linear systems exactly modeled

14. Mathematical Backgrounds – Operational Calculus Matrix: State-space Variable Method Z-Transform: Digital control system analysis & design

15. Major Class Subjects: Modeling & Control of dynamic systems • Digital control: Ch. 13 • State-space Variable Method (SVM): Ch. 2 ~ 7 • Advanced control theories/techniques: Ch. 12

16. 1. Digital control • Discrete-time systems / z-transforms for analysis and design of digital control systems

17. 2. State-space Variable Method (SVM) • An alternative method for System modeling using time-domain methods: nth order system (nthorder DE)  n # of 1st order DE  One 1st order DE • Utilizing a (non-unique) set of variables • x1(t), x2(t), …, xn(t) • function of time • describe the future response if initial condition is known • In matrix form • Readily to computer solution & analysis

18. 3. Advanced Control Theories/Techniques •  Advanced controls • Fundamentals of modern control systems - controllability, observability, Ackerman’s formula, and pole placement • Control algorithms: optimal control • Systems & applications (Project) • Application of various control systems • Robotics, Maglev, Satellite – attitude control & orbit changing • Computer (Matlab/Simulink) simulations

19. Covered in this class: Linear Systems • Principle of Superposition ex. 2. Homogeneity If output is yfor input x y = βx for input βxwhereβ:const. 3. Linearization: Taylor series expansion • For small range around operating point • Laplace Transform: only for linear system • Example: pendulum oscillator But, SVM can also be applied to nonlinear systems! (spring board to advanced controls!)

20. Good Luck & Enjoy Class!