KON 314E – Control System Design

Essential Information

Course Code: KON 314E
Term: 2024 Spring
Lecturer: Assoc. Prof. Dr. İlker Üstoğlu
Control and Automation Eng. Dept.
Room Num: 4214, Tel: 212 - 285 35 74
ustoglui@itu.edu.tr
Course Hours: Monday (12:30 - 14:30) Friday (Lab:15:30 - 17:30)
Course Books: 1) "Control System Design", G. C. Goodwin, S. F. Graebe ve M. E. Salgado, 2001, Prentice Hall, New Jersey, ISBN: 0 -13 -958653-9
2a) "Control Systems Engineering", Norman S. Nise, 2000 (2019 8th ed), John Wiley & Sons, New York, ISBN: 0-471-36601-3.
2b) “Control Systems Engineering”, Norman S. Nise, 2019, John-Wiley & Sons, ISBN: 978-1119590132
3) "Feedback Control of Dynamic Systems", Gene F. Franklin, J. David Powell, Abbas Emami-Naeini, 2019, Global Edition, 8th Edition, Pearson, ISBN: 978-1292274522
4) "PID Control System Design and Automatic Tuning using MATLAB/Simulink", Liuping Wang, 2019, Wiley – IEEE, ISBN: 978-1119469346
5) "Otomatik Kontrol Sistemleri", B. C. Kuo (çeviren: Atilla Bir), 1999, Literatür Yayıncılık, İstanbul.
Grading Policy: 1% Pre-test (23 February 2024 Friday, 18:30)
20% Midterm exam (17 April 2024 Wednesday, 17:30)
30% Homework (4 assignments)
9% Lab
15% Post-test
25% Final exam
Final Exam Enterance Condition: The weighted average of the midterm performance (laboratory, midterm exam and first three homework assignments) must be at least 25 out of 100.
Home Page: http://web.itu.edu.tr/soylemezm/kon314e

Course Syllabus

Week Day Topics to be Covered
Week 1
12-16 Feb		 Monday INTRODUCTION

  • Motivation
  • Signals and Systems
  • The feedback concept
  • Control system architecture
    		•
    Friday MATLAB/MATHEMATICA INTRODUCTION
    Week 2
    19-23 Feb    		 Monday Simple Control Methods and K Synthesis

  • Requirements for controller design
  • On-Off (BANG-BANG) Control
  • Control by system inverse
  • Control using high gains
  • The effects of the poles to system response
  • Controller design by root locus
    Basic Control Methods and K Synthesis

  • The Donimanant Pole Assignment Concept
  • K synthesis
    		•
    Friday (Lab) SIMPLE CONTROL METHODS

  • Introduction to Control System Toolbox (MACSYBOX)
  • An example to control by system inverse
  • An example to control by high gain
  • Examples for K synthesis
    PRETEST (Online - 24 February 2023 Friday 18:30)
    		•
    Week 3
    26 Feb -1 Mar    		 Monday Phase Lag Controller Design

  • Definition of phase lag controllers
  • Design by phase lag controllers
  • PI control
  • Dealing with the steady state response
  • Implementation of phase lag controllers
    Phase Lead Controller Design

  • Definition of phase lead controller
  • Design by phase lead controllers
  • PD control
  • Dealing with the transient response
  • Implementation of phase lead controllers

    Designing higher order controllers

  • Phase lead-lag control
    		•
    Friday (Lab)
  • Examples on phase lag controller design
     Phase Lead-Lag Controller Design 

  • Design examples
  • Finding controller parameters algebraically
    		•
    Week 4
    4-8 Mar    		 Monday PID Controller Design

  • Why PID Control?
  • Cascaded design
  • Classical PID Tuning Methods
  • Ziegler-Nichols method
  • Cohen-Coon method
  • New PID controller design methods
    Controller Design By Pole Assignment

  • Pole assignment using polynomial approach
  • PID controller design by pole assignment
  • Dominant pole assignment technique
    		•
    Friday (Lab) PID Control Techniques

  • Design examples
    		•
    Week 5
    11-15 Mar    		 Monday Pole Assignment using Output Feedback

  • Pole assignment theorem
  • Pole assignment by equating coefficients
  • Design examples
    		•
    Friday (Lab) Pole Assignment

  • Design examples
    		•
    Week 6
    18-22 Mar    		 Monday Pole Zero Cancellation and Model Matching

  • Control by Pole Zero Cancellation
  • Notch filters
  • Model matching method
    • Friday (Lab) Design examples
    Week 7
    25-29 Mar    		 Monday Basic Restrictions in Designing Controllers for SISO System Design

  • Constructional restrictions
  • Sensitivity of the roots
  • Zeros that are on the RHP and/or near the origin.
    Integrator windup and antiwindup control

  • Integrator wind-up
  • Anti-windup control techniques
  • Restricting the slew-rate
    		•
    Friday (Lab)
  • Examples to basic restrictions in control.
  • Simulink applications
    		•
    Week 8
    1-5 Apr    		 Monday Different Control Structures and PID Control Types

  • Control by Feedback Controllers
  • PI-PD control
  • PID-PD control
  • Control by two degrees of freedom control structure
    		•
    Friday
  • Design examples
    		•
    Week 9
    8-12 Apr    		 Monday SPRING BREAK
    Friday SPRING BREAK
    Week 10
    15-19 Apr    		 Monday Frequency Domain Methods

  • K synthesis using frequency response
  • Phase lag controller design
    		•
    Wednesday MIDTERM EXAM
    17 April 2024 Wednesday 17:30
    Friday APPLICATIONS

  • Antiwindup Control Examples
  • Design examples on PID Control Types
    • Week 11
    22-26 Apr    		 Monday
  • Design examples
    		•
    Friday (Lab) Frequency Domain Methods

  • Design examples
    		•
    Week 12
    29 Apr - 3 May    		 Monday Frequency Domain Methods

  • Phase lead controller design
  • Phase lag-lead controller design
    		•
    Friday
  • Design examples
    		•
    Week 13
    6-10 May    		 Monday Internal Model Control

  • Designing controllers using the internal model control technique

    Control of Time Delay Systems

  • Smith predictor
  • Controller design using Pade approximation
  • Frequency domain techniques
    		•
    Friday (Lab)
    Week 14
    13-17 May    		 Monday State Space Methods in Controller Design

  • Controllable standard form and pole assignment using state feedback
  • Ackermann formula
  • Luenberger Observer design
    • Friday (Lab)
  • Design examples
    		•
    Week 14
    20-24 May    		 Monday Analysis and design of MIMO control systems: use of decoupling and relative gain matrix
    Friday (Lab)
  • Design examples
    		•