KON 314E – Control System Design

Essential Information

Course Code: KON 314E
Term: 2019 Fall
Lecturer: Prof. Dr. M. Turan Söylemez
Control and Automation Eng. Dept.
Room Num: 4207, Tel: 212 - 285 35 70
soylemezm@itu.edu.tr

Dr. Öğr. Üyesi İlker Üstoğlu
Control and Automation Eng. Dept.
Room Num: 4214, Tel: 212 - 285 35 74
ustoglui@itu.edu.tr
Course Hours: D5203 - Monday (10:30 - 12:30) (weeks 1 - 7, 10)
D5101 - Friday (15:30 - 17:30) (weeks 1, 8-15)
Laboratory sessions will be at the Computer Lab. Of Electrical Eng. Dept.
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, 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
20% Midterm exam
21% Homework
18% Lab (12% Quizzes - 6% Lab. performance)
15% Post-test
25% Final exam
Final Exam Enterance Condition: The midterm exam performance must be at least 20 out of 100, and 85% laboratory attendence requirement must be met.
Home Page: http://web.itu.edu.tr/soylemezm/kon314e

Course Syllabus

Week Day Topics to be Covered
Week 1
16-20 September 2018		 Monday INTRODUCTION

  • Motivation
  • Signals and Systems
  • The feedback concept
  • Control system architecture
    		•
    Friday MATLAB/MATHEMATICA INTRODUCTION (D5201)
    PRETEST
    Week 2
    23-27 September 2018    		 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
    		•
    Friday (Lab) MATLAB/MATHEMATICA INTRODUCTION
    Week 3
    30 September-4 October 2018    		 Monday 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
    		•
    Week 4
    7-11 October 2018    		 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
    • Friday (Lab)  Phase Lag Controller Design 

  • Design examples
  • Finding controller parameters algebraically
    		•
    Week 5
    14-18 October 2018    		 Monday 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) Phase Lag/Lead Controller Design

  • Design examples
  • Finding controller parameters algebraically
    		•
    Week 6
    21-25 October 2018    		 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 7
    28 October-1 November 2017    		 Monday Pole Assignment using Output Feedback

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

  • Design examples
    		•
    Week 8
    4-8 November 2018    		 Monday NO CLASS!
    Friday NO CLASS!
    Week 9
    11-15 November 2018    		 Monday (Lab) Design examples
    Friday Pole Zero Cancellation and Model Matching

  • Control by Pole Zero Cancellaion
  • Notch filters
  • Model matching method
    Basic Restrictions in Designing Controllers for SISO System Design

  • Constructional restrictions
  • Sensitivity of the roots
  • Zeros that are on the RHP and/or near to the origin.
    		•
    Week 10
    18-22 November 2018    		 Monday (Lab) Examples to basic restrictions in control.
    Friday (Lab) Integrator windup and antiwindup control

  • Integrator wind-up
  • Anti-windup control techniques
  • Restricting the slew-rate

    APPLICATIONS

  • Design examples
    		•
    Week 11
    25-29 November 2018    		 Monday MIDTERM EXAM (25th November 2019, Monday - 08:30, D5203)
    Friday 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
    		•
    Week 12
    2-6 December 2018    		 Monday (Lab) Antiwindup Control Examples

    PID Control Types

  • Design examples
    		•
    Friday Different Control Structures
    Frequency Domain Methods

  • K synthesis using frequency response
  • Phase lag controller design
    		•
    Week 13
    9-13 December 2018    		 Monday (Lab) Frequency Domain Methods

  • Design examples
    		•
    Friday Frequency Domain Methods

  • Phase lead controller design
  • Phase lag-lead controller design
    		•
    Week 14
    16-20 December 2018    		 Monday (Lab) Frequency Domain Methods

  • Design examples
    		•
    Friday 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
    		•
    Week 15
    23-27 December 2018    		 Monday (Lab) Internal Model Control

  • Design examples

    Control of Time Delay Systems

  • Design examples

    State Space Methods in Controller Design

  • Design examples
    • Friday State Space Methods in Controller Design

  • Controllable standard form and pole assignment using state feedback
  • Ackermann formula
  • Luenberger Observer design
    		•