North Carolina State University

Department of Mechanical and Aerospace Engineering

MAE 435-1 Principles of Automatic Control

SYLLABUS

Fall Semester 2012

Schedule: MW 11:05-12:20pmClassroom: EBIII 2207Website: www.mae.ncsu.edu/wu/courses/mae435

Dr. Fen Wu, ProfessorOffice: EBIII 3254Office Hour: TuTh 9:00-10:30amE-mail: fwu@eos.ncsu.edu

COURSE OBJECTIVE:

Understanding fundamentals of classical control theory such as transfer function, state space,feedback, time and frequency response, stability, and performance specifications. Developingcontrol system design skills using classical control methods.

REQUIRED TEXTBOOK:

Feedback Control of Dynamic Systems, by G.F. Franklin, J. D. Powell, and A. Emami-Naeini,Prentice-Hall, NJ, 6th Ed., 2009.

REFERENCES:

• Modern Control Engineering, by K. Ogata, Prentice-Hall, NJ, 5th Ed., 2010.

• Modern Control Systems, by R.C. Dorf and R.H. Bishop, Prentice Hall, NJ, 12th Ed., 2010.

TEACHING ASSISTANT: Laura Tolliver, lauratolliver@gmail.com, MW 4-5pm, EBIII3257.

PREREQUISITE:

MA 341. Concrete knowledge on ordinary differential equation (ODE) is required.

HOMEWORK POLICY:

Homework assignments will be posted at course website on weekly basis, and is due one weeklater at the beginning of the class. During the design project period, it will be assignedbiweekly. Late homework will not be accepted. Students are encouraged to work in 2-3 personteams in doing the homework problems. However, copying the solutions of others is prohibited.All problem solutions will be made available online at the course website.

EXAMINATIONS:

There will be two midterm exams during the semester (Oct. 8 and Nov. 14). The final examis comprehensive and is scheduled at 8:00-11:00am of Dec. 12, 2011. All exams will be closedbooks and closed notes. However, students are allowed to bring ONE page of “cheat sheet”(front and back) to the exams. Necessary Laplace transform formula will be provided by theinstructor.

1

DESIGN PROJECT:

A four weeks period will be given for students to work on the design project. The due dateof the project will be the last day of instruction (Nov. 28, 2012). The project will be a groupeffort with no more than 3 persons, and its results should be documented in a formal report.

GRADING POLICY:

For the course grade assignment, the following weighting basis will be applied:

Homework 20%Two Midterms 35%Design Project 20%Final Exam 25%

TENTATIVE SCHEDULE:

Date Topics Chapters

Aug. 20 Introduction 1.1-1.4Aug. 22, 27 Laplace transform, 3.1, Appendix A

solving differential equation using LT methodAug. 29, Sept. 5 Modeling of mechanical, electrical systems 2.1-2.3, 2.5Sept. 10, 12 State-space model, transfer function, block diagram 3.2, Appendix CSept. 17, 19 Time response of first and second-order systems 3.3

Time-domain performance indices 3.4Sept. 24 Higher-order dynamics 3.5Sept. 26, Oct. 1 Routh stability criterion 3.7Oct. 3 SIMULINK overview

Oct. 8 Exam #1Oct. 10 Steady-state errors 4.2-4.3Oct. 15 Basic feedback control 4.1Oct. 17, 22 Root locus sketching, rules 5.1-5.4Oct. 24, 29 Control design using root locus method 5.5-5.6Oct. 31, Nov. 5 Bode plots, Nyquist plot 6-1, 6.2-6.3Nov. 5 Project assignmentNov. 7 Gain and phase margins 6.4Nov. 12 Frequency-domain performance 6.6

Nov. 14 Exam #2Nov. 19, 21 Control design using frequency response 6.7Nov. 26 State-space analysis, transformation, pole placement 7.1-7.6Nov. 28 Final review

Dec. 12 Final exam from 8:00-11:00am at EBIII 2207

2

LEARNING MILESTONES:

Chapters Milestones

2 Derive ODE, TF, SS models for typical mechanical/electrical systems,obtain analytic solutions using LT

3 Analyze the time-domain performance of second-order systempredict transient performance from poles/zerosdetermine stability for dynamic systems,

4 Understand the effect of P/I/D controllers to transient and steady state performance

5 Root locus drawingdetermine the change of closed-loop poles using root locus,design lead/lag compensators by root locus technique

6 Represent frequency response using Bode plots,connection between time and frequency domain performance,design lead/lag compensators by frequency response method

7 Understand different SS forms

MISCELLANEOUS:

1. Attendance is expected at all class meetings.

2. There will be no makeup examinations except for valid excuse.See www.ncsu.edu/policies/academic affairs/pols regs/REG205.00.4.php

3. Online class evaluation will be available for students to complete at the end of semester.Evaluation website: https://classeval.ncsu.edu

4. It is responsibility of each student to be familiar with the NCSU Code of Student Conduct,and in particular with those portions pertaining to academic dishonesty.See www.ncsu.edu/policies/student services/student discipline/POL11.35.1.php

3