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DE5 2011 - Classical Control

    Teacher: Zhenyu Yang

    Teaching assistent: None

    Course plan:

Lecture

Date:

Topic:

Literature:

Comments:

1

Introduction to feedback Control 

  • basic concepts
  • block diagram
  • Matlab/Simulink

slides

mm3motorP.mdl

BO9000CaseStudy

2

Essentials to feedback Control

  • ODE model
  • Laplace transform
  • block diagram transformation

·         Section 2.1 (models of mechanical systems, p.20-33);

·         Section 3.1 (Laplace transform, p.86-110)

·         Section 3.2 (Block diagram, p.111-118)

Slides

Readings

Simulinktutorial

Execise

solution to execise

Simulink_model

3

 

Response of dynamic systems

•       Section 3.3 (response & pole locations, p.118-126);

•          Section 3.4 (time-domain specifications, p.126-131)

•          Section 3.6 (numerical simulation, p.138-143)

Slides

Extra_readings (page 1-39)

Execise (see MM2)

4

 

System poles and feedback characteristics

  • Section 3.3 (response & pole locations, p.118-126);
  • section 4.1 (basic properties of feedback, p.167-179)

Slides

Extra_readings

Execise 

a feedback example

5

 

Stability anlysis

•       Section 4.4 (stability, p.212-223);

  • Section 4.3 (steady-state tracking & system type, p.200-210)

•          Section 3.5 (effects of zeros & add. Poles, p.131-138)

  • Extra reading materials (p.40-60)

Slides

Extra_readings (p.40-60)

Execise (see last slide)

  

6

 

PID controllers

Slides

Extra_readings

Execise

motorP.mdl

motorPI.mdl

motorPID.mdl

ZNtuning_motor.mdl

7

 

Practical issues in PID methods

  • Section 4.2.7, page 196-200
  • extra materials

Slides

Extra_readings (p.60-)

Extra_reading2

motorPIsaturation.mdl

motorPIantiwindup.mdl

8

 

Frequency response analysis (I) - Bode plot

•       Section 6.1 (frequency response, page338-358).

•          Section 6.4 (stability margins, page 375-379). 

•          Section 6.6 (closed-loop frequency response, page 388-389).

Slides

Execise (see slide page 15, 20 and 37)

 

9

 

Frequency response analysis (II) - Nyquist diagram

•       Section 6.3 (Nyquist stability criterion, page361-375);

•          Section 6.4 (stability margins, page 375-383)

Slides

 

10

 

Frequency response design
  • p389-407: lead compensation

 

Slides

Execise (see last slide)

 

11

 

Root locus method
  • Chapter 5 Root locus design

Slides

12

 

summary and review of execises

 

 

 

 

 

 

 

Link to Digital Control homepage

Last updated: 06/09-11