CONTROL SYSTEMS

AIM

Objective of the course is to enable students to • understand the vital role of automatic control in engineering and science, • recognize the fundamental concepts of control systems, • identify when a process is challenging to control, • propose solutions on the purpose of designing controllers for dynamic systems by using relevant mathematical theory and key concepts, • simulate various dynamic models based on different control methodologies and evaluate their behavior and performance by means of computational tools, • apply fundamental control theories to real time systems.

CONTENT

This course contains; Introduction to Control Systems, A Perspective on Feedback Control, A Perspective on Mathematical Modeling of Dynamic Systems,Dynamic Models, Laplace Transformation, Inverse Laplace Transformation, Poles and Zeros, Linear System Analysis, The Transfer Functions, The Block Diagram,Transient Response Analysis, Time-Domain Specifications, Design Synthesis, Effect of Zeros and Additional Poles, Stability of LTI Systems, Routh’s Stability Criterion,The First Analysis of Feedback, The Basic Equations of Control, Regulation and Disturbance Rejection, PID Control,Control Systems Design by the Root Locus Method, Lead Compensation, Lag Compensation,Frequency Response Design, Bode Diagrams, Bode Diagram Problems, Stability Condition,Bode Diagram Problems, Stability Condition, Stability Margins, Closed-Loop Frequency Response,Control System Design by Frequency Response: Lead Compensation, Lag Compensation, Lag-Lead Compensation, PD-PI-PID Compensations,State-Space Design, System Description in State-Space, Block Diagrams and Canonical Forms: Controllable Canonical Forms,State-Space Design, Observer Canonical Forms, Dynamic Response from the State Equations,Estimator Design, Observability, Reduced Order Estimator Design, Estimator Pole Selection, Compensator Design: Combined Control Law and Estimator,Controllability, Observability, Control System Design in State Space: Pole Placement,Control-Law Design for Full-State Feedback: Observer, Ackermann’s Formula,Estimator Design, Observability, Reduced Order Estimator Design, Estimator Pole Selection, Compensator Design: Combined Control Law and Estimator.

1. 1

   Recognize the efficacy of automatic control, the importance of a proper process design, the concept of feedback in control systems and some of the key design issues.

   Taught by: Problem Solving Method, Question - Answer Technique, Project Based Learning Model, Simulation Technique, Lecture Method · Assessed by: Traditional Written Exam, Homework, Project Task

2. 2

   Recognize the fundamental elements taking part in the control systems, such as actuators, sensors, controllers, and converters

   Taught by: Project Based Learning Model, Simulation Technique, Problem Baded Learning Model, Lecture Method · Assessed by: Traditional Written Exam, Homework, Project Task

3. 3

   Develop mathematical models of dynamic systems by analyzing them with design principles and express their transfer functions using the Laplace transform.

   Taught by: Problem Solving Method, Project Based Learning Model, Simulation Technique, Lecture Method · Assessed by: Traditional Written Exam, Homework, Project Task

4. 4

   The characteristics of the time response for these models are determined within a simulation environment by redefining the transfer function of dynamic models using Laplace transformation.

   Taught by: Problem Solving Method, Project Based Learning Model, Simulation Technique, Lecture Method · Assessed by: Traditional Written Exam, Homework, Project Task, Simulation-Based Evaluation

5. 5

   Compare open-loop and closed-loop control with respect to disturbance rejection, tracking accuracy, sensitivity, and steady-state error.

   Taught by: Problem Solving Method, Project Based Learning Model, Simulation Technique, Problem Baded Learning Model, Lecture Method · Assessed by: Traditional Written Exam, Homework, Project Task, Simulation-Based Evaluation

6. 6

   Design linear control systems utilizing fundamental concepts, such as root locus, frequency response (Bode diagrams), and state-variable feedback both in time and frequency domains and evaluate their effect on the transient and steady-state performance of the system.

   Taught by: Problem Solving Method, Project Based Learning Model, Simulation Technique, Problem Baded Learning Model, Lecture Method · Assessed by: Traditional Written Exam, Homework, Project Task, Simulation-Based Evaluation

7. 7

   Design and analyze control systems using state-space methods, including system representation, controllability and observability analysis, canonical forms, state feedback and observer design, pole placement using Ackermann’s formula, and compensator design with estimators.

   Taught by: Discussion Method, Demonstration Method, Problem Solving Method, Question - Answer Technique, Lecture Method · Assessed by: Traditional Written Exam, Homework, Simulation-Based Evaluation

8. 8

   Design electromechanical systems for real-time fabrication and control by applying fundamental digital control concepts in both software and hardware to solve identified engineering problems using technical skills

   Taught by: Problem Solving Method, Project Based Learning Model, Simulation Technique · Assessed by: Project Task

WEEKLY PLAN

1. WEEK 1

   Introduction to Control Systems, A Perspective on Feedback Control, A Perspective on Mathematical Modeling of Dynamic Systems

   Preparation: Course slides and 1st chapter of the course books

2. WEEK 2

   Dynamic Models, Laplace Transformation, Inverse Laplace Transformation, Poles and Zeros, Linear System Analysis, The Transfer Functions, The Block Diagram

   Preparation: Course slides and 2nd chapter of the course books

3. WEEK 3

   Transient Response Analysis, Time-Domain Specifications, Design Synthesis, Effect of Zeros and Additional Poles, Stability of LTI Systems, Routh’s Stability Criterion

   Preparation: Course slides and 3th chapter of the course book (Franklin's book) and 5th chapter of the Ogata's book

4. WEEK 4

   The First Analysis of Feedback, The Basic Equations of Control, Regulation and Disturbance Rejection, PID Control

   Preparation: Course slides, 4th chapter of the course book (book title:Feedback Control of Dynamic Systems), and 8th chapter of the other course book ( book title: : Modern Control Engineering)

5. WEEK 5

   Control Systems Design by the Root Locus Method, Lead Compensation, Lag Compensation

   Preparation: Course slides, 5th chapter of the course book (book title:Feedback Control of Dynamic Systems), and 6th chapter of the other course book ( book title: : Modern Control Engineering)

6. WEEK 6

   Frequency Response Design, Bode Diagrams, Bode Diagram Problems, Stability Condition

   Preparation: Course slides, 6th chapter of the course book (book title:Feedback Control of Dynamic Systems), and 7th chapter of the other course book ( book title: : Modern Control Engineering)

7. WEEK 7

   Bode Diagram Problems, Stability Condition, Stability Margins, Closed-Loop Frequency Response

   Preparation: Course slides, 6th chapter of the course book (book title:Feedback Control of Dynamic Systems), and 7th chapter of the other course book ( book title: : Modern Control Engineering)

8. WEEK 8

   Control System Design by Frequency Response: Lead Compensation, Lag Compensation, Lag-Lead Compensation, PD-PI-PID Compensations

   Preparation: Course slides, 6th chapter of the course book (book title:Feedback Control of Dynamic Systems), and 7th chapter of the other course book ( book title: : Modern Control Engineering)

9. WEEK 9

   State-Space Design, System Description in State-Space, Block Diagrams and Canonical Forms: Controllable Canonical Forms

   Preparation: Course slides, 7th chapter of the course book (book title:Feedback Control of Dynamic Systems), and 9th chapter of the other course book ( book title: : Modern Control Engineering)

10. WEEK 10

    State-Space Design, Observer Canonical Forms, Dynamic Response from the State Equations

    Preparation: Course slides, 7th chapter of the course book (book title:Feedback Control of Dynamic Systems), and 9th chapter of the other course book ( book title: : Modern Control Engineering)

11. WEEK 11

    Estimator Design, Observability, Reduced Order Estimator Design, Estimator Pole Selection, Compensator Design: Combined Control Law and Estimator

    Preparation: Course slides, 7th chapter of the course book (book title:Feedback Control of Dynamic Systems), and 9th chapter of the other course book ( book title: : Modern Control Engineering)

12. WEEK 12

    Controllability, Observability, Control System Design in State Space: Pole Placement

    Preparation: Course slides, 7th chapter of the course book (book title:Feedback Control of Dynamic Systems), and 9th chapter of the other course book ( book title: : Modern Control Engineering)

13. WEEK 13

    Control-Law Design for Full-State Feedback: Observer, Ackermann’s Formula

    Preparation: Course slides, 7th chapter of the course book (book title:Feedback Control of Dynamic Systems), and 9th chapter of the other course book ( book title: : Modern Control Engineering)

14. WEEK 14

    Estimator Design, Observability, Reduced Order Estimator Design, Estimator Pole Selection, Compensator Design: Combined Control Law and Estimator

    Preparation: Course slides, 7th chapter of the course book (book title:Feedback Control of Dynamic Systems), and 9th chapter of the other course book ( book title: : Modern Control Engineering)

ASSESSMENT

• Rate of Midterm Exam to Success30%
• Rate of Final Exam to Success70%

WORKLOAD

READING

• 1. G.F. Franklin, J.D. Powell, A.Emami-Naeini: Feedback Control of Dynamic Systems (7th Edition), Prentice Hall, 2015. 2. Katsuhiko Ogata: Modern Control Engineering (5th Edition), Prentice Hall, 2010.
• 1. MATLAB Control System Toolbox, SIMULINK (Code Examples) 2. Arduino (Built-in Examples) https://www.arduino.cc/en/Tutorial/BuiltInExamples 3. G.F. Franklin, J.D. Powell, M. Workman: Digital Control of Dynamic Systems (3th Edition), Prentice Hall, 2006.

TEACHING STAFF

• Assist.Prof. Elif HOCAOĞLUCOORDINATOR
• Assist.Prof. Elif HOCAOĞLU