Course Contents: This course aims to introduce the basic concept of linear feedback control to the students. As the first and main course in control, special emphasis is on the analysis of feedback control systems, especially on the stability analysis. First modeling of the systems with transfer functions, and block diagrams are introduced, and flow graphs and Mason rule for its simplification is taught. Then the time response characteristics of first and second order system are explained, and

more »

... he stability analysis is started using Roth-Horowitz criteria. Next static feedback compensation, and stability analysis through Root Locus method is detailed, and then frequency response method and Bode, Nyquist and Nichols charts are elaborated. Finally, Dynamic compensation, and general method of feedback controller design for leadlag and PID's are explained, based on the frequency response method. The expertise obtained by the students in this course is examined in a thorough and comprehensive design task as a term project. Teacher Biography: Hamid D. Taghirad has received his B.Sc. degree in mechanical engineering from Sharif He is a senior member of IEEE, and Editorial board of International Journal of Robotics: Theory and Application, and International Journal of Advanced Robotic Systems. His research interest is robust and nonlinear control applied to robotic systems. His publications include five books, and more than 250 papers in international Journals and conference proceedings. Course Materials: This document contains: Homework assignments and their solution; Mid-term and final exams with their solutions; Term project; Extra reading materials for the course. Objectives: This course aims to introduce the basic concept of linear feedback control to the students. As the first and main course in control, special emphasis is on the analysis of feedback control systems, especially on the stability analysis. First modeling of the systems with transfer functions, and block diagrams are introduced, and flow graphs and Mason rule for its simplification is taught. Then the time response characteristics of first and second order system are explained, and the stability analysis is started using Roth-Horowitz criteria. Next static feedback compensation, and stability analysis through Root Locus method is detailed, and then frequency response method and Bode, Nyquist and Nichols charts are elaborated. Finally, Dynamic compensation, and general method of feedback controller design for lead-lag and PID's are explained, based on the frequency response method. The expertise obtained by the students in this course is examined in a thorough and comprehensive design task as a term project. The tentative course contents are as following. Time: Teaching Contents Week 1 Introduction: Why feedback, conceptual components of feedback systems, physical components of feedback systems, the magic of feedback. Week 2 Introduction: the characteristics of feedback systems, stability, tracking, disturbance attenuation, noise rejection and insensitivity to model uncertainty. Week 3 System Representation: Laplace transform, modeling of the systems with transfer functions, block diagrams, rules and simplifications, flow graph, Mason rule. Week 4 Linear system time response: impulse and step response, first and second order time response characteristics, rise time, settling time, steady state error, overshoot, decay ratio, time and frequency domain relation. Week 5 Stability analysis: BIBO stability definition, characteristic polynomials, poles, stability condition, Routh -Horwitz stability criteria. Week 6 Root Locus: Closed-loop pole relation to the loop gain, Root locus graphical method of pole representation, magnitude and angle laws. Week 7 Root Locus: Rules of root locus representation, gain selection, static feedback design, desired characteristics, time and frequency domain relation. Week 8 Midterm Week 9 Frequency Response: Bode response, Bode theorem, the relation between magnitude and phase, cross over frequency, bandwidth, and frequency domain characteristics of second order systems. Week 10 Frequency Response: Nyquist diagram, encirclements and number of closed loop poles, Nyquist contour, nyquist stability criteria. Week 11 Frequency Response: Ultimate point, stability characteristics, poles and zeros on imaginary axis, controller design based on nyquist diagram, relation between Bode and Nyquist plot. Week 12 Frequency Response: Nichols chart, M circles, sensitivity, and complementary sensitivity transfer functions, loop gain and feedback characteristics in Nichols chart. Week 13 Dynamic feedback design: Basic definitions, stability margins, gain and phase margin, bandwith, cross over frequencies, relation between time and frequency response. Week 14 Dynamic feedback design: P controller design based on stability margin, PI controller design based on steady state characteristics or disturbance rejection in steady state. Week 15 Dynamic feedback design: Lag controller design, PD controller and closed loop bandwidth, lead controller, PID and lead-lag controller, comprehensive example. Marking Scheme: Assignments and Research 10% Projects 20% Midterm 30% Final 40% Good Luck ‫ب‬ ‫ه‬ ‫جان‬ ‫آنکه‬ ‫نام‬ ‫آموخت‬ ‫فکرت‬ ‫را‬ ‫خطی‬ ‫کنترل‬ ‫درس‬ ‫محتواي‬ ‫برق‬ ‫مهندسي‬ ‫دانشکده‬ ‫گ‬ ‫کنترل‬ ‫روه‬ ‫سيستم‬ ‫و‬ http://courses.kntu.ac.ir/ Key: LC961Enter ‫تقي‬ ‫حميدرضا‬ ‫مدرس:‬ ‫راد‬ , 4 ( ) = 1 5 ( ) = 5 +7 , 6 ( ) = 1 ( 2 +5 +10) , 7 ( ) = 3 ( +2) , 8 ( ) = 1 +6 ‫آموخت‬ ‫فکرت‬ ‫جانرا‬ ‫آنکه‬ ‫بنام‬ ‫کنترل‬ ‫خطی‬ ‫سری‬ ‫تمرین‬ ‫اول‬ ‫برق‬ ‫مهندسي‬ ‫دانشکده‬ ‫سیستم‬ ‫و‬ ‫کنترل‬ ‫گروه‬ ‫نیمسال‬ ‫اول‬ 96 -97