ENME 362

ENME 362 Vibration, Controls, and Optimization II Spring 1999

Sections 0101 and 0102
Lecture 12:00–12:50 Monday and Wednesday, EGR 1202
Discussion: 1:00-2:50 Wednesday (0101) or Thursday (0102)

Instructors: Dr. Peter Sandborn Dr. V. K. Pavlin

Office: ENG 3127 ENG 2140A

Phone: (301) 405-3167 (301) 405-5246

Email: sandborn@eng.umd.edu vp4@umail.umd.edu

Office Hours: 2 – 3:30 pm, Wednesday 2 - 3:30 pm, Monday

Teaching Assistants: Kaza Ramana Kumar Swaminathan Saikumar

Office:

Phone: (301) 405-4055 (301) 405-4055

Email: kaza@glue.umd.edu saiswa@wam.umd.edu

Office Hours:

Course Description:
ENME 362 introduces the theory and practice of control systems engineering. Control systems are an integral part of modern society that are found in a broad range of applications from aircraft and spacecraft to robots and process control systems. In this course students will learn how to describe systems mathematically and analyze those descriptions in the time and frequency domains. This course includes integrated studios that allow students to master the MATLAB engineering computing environment and provide an introduction to the LABVIEW graphical programming development environment for data acquisition and control, data analysis, and data presentation.

Learning Outcomes:
In this course the student will develop and/or refine the following areas of knowledge:

General engineering problem formulation, organization, solution, and solution optimization methodologies
Mathematical descriptions of systems
Analysis in time and frequency domains
Control systems analysis and stability
Transfer functions
Block diagrams
Feedback systems
State-space analysis and controller design
Linear algebra and linear differential equations
MATLAB environment
LABVIEW environment.

Outcome Measurement and Assessment:
Student progress in achieving the desired outcomes for this course will be monitored and measured through the use of the following:

Completion of assigned homework sets designed to build a mastery of the basic concepts of the course, and provide engineering problem solving practice.
Regular examinations designed to demonstrate mastery of basic concepts of the course.
A comprehensive final exam designed to demonstrate the student’s ability to both solve specific mechanics problems and to integrate the many topics covered in the course in the formulation and solution of more complex, multidisciplinary engineering mechanics problems.
Student performance in an integrated studio that combines the basic concepts introduced in the course with software tools used by practicing engineers to solve real engineering problems.
By creating and maintaining a portfolio containing a representative sample of student work in this course.

Course Outcomes:
The study of control systems engineering is essential for students pursuing degrees in mechanical, electrical, aerospace, or chemical engineering. This course lays critical groundwork for further study in:

Robotics
Process control
Spacecraft design
and many others…

Professional Outcomes:
The most measurable long-term outcome from this course is the student’s resulting ability to identify, formulate and organize engineering problems in a conceptual form as well as in terms of mathematical and physical models. Understanding control systems enables students from all branches of engineering to speak a common language and develop an appreciation and working knowledge of the other branches.

Text: Control System Engineering, 2^nd Ed. by N. S. Nise, Addison-Wesley, 1995.

Class Examination Dates:

Midterm 1 – March 3, 1999
Midterm 2 – April 21, 1999
Final Exam – Saturday May 22, 1999, 8 – 10 am

Grading Policy:

15% Homework/class participation (attendance will be taken in the lecture)
15% Studios (attendance will be taken in the studios)
20% Midterm 1
20% Midterm 2
30% Final Exam

Homework:
Homework assignments will be collected in the first 10 minutes of the lecture one week after it is assigned. Late homework will be marked 10% off if it is handed in before solutions are posted, 50% off after solutions are posted.

Homework Format:

Homework must be on engineering paper (any color)
Use one side only
Pen or pencil
Staple pages together
All pages numbered at the top (e.g., 1/3 means page 1 out of 3)
Student name must appear at the top of every page
Box your answers
Answers must include units (if applicable)
Neatness counts – if I can’t read it, I won’t grade it
Show all your work (no work, no points).

Studios:

All studios must be handed in as hardcopy (no emails or web pages)
Due one week after studio session
Students are responsible for finishing studios on their own if they do not complete them in class
Attendance will be taken in studios

Make-Up Exams:
Make-up exams are only allowed for justifiable reasons if notified in advance (i.e., University approved religious observance) or with a documented reason for an unnotified emergency absence (i.e., family or medical emergency).

Syllabus (Homework assignments and due dates will be given in lecture)

Date

Lecture Topic

Book Sections

Studio

Feb 1

Introduction
1.1-1.7 Studio 1 – Introduction to MATLAB

Feb 3

Laplace Transform
Partial Fractions
2.1-2.2

Feb 8

Transfer Functions
Time Response from TFs
Poles & Zeros
2.3
4.2 Studio 2 – Time-Domain Response

Feb 10

System Modeling
2.4-2.9

Feb 15

Block Diagrams
Feedback Systems
5.1-5.2
7.1-7.4

Feb 17

Feedback Systems (con’t)
7.5-7.6

Feb 22

Time Response (1^st and 2^nd order systems)
4.1-4.6 Studio 3 – Block Diagrams and Feedback Systems

Feb 24

Time Response (high order systems)
4.6-4.8

Mar 1

Stability Analysis (Routh Hurwitz Criterion)
6.1-6.4 Studio 4 – Introduction to Experimental Controls

Mar 3 Midterm I

Mar 8

Root Locus Method
8.1-8.6 Studio 5 – Root Locus Analysis

Mar 10

Compensator Design Using Root Locus
Gain Adjustment
8.7

Mar 15

Cascade Compensation
PI & PD Compensation
9.1-9.3 Studio 6 – Proportional-Integral Controller Design

Mar 17

PID Compensation
9.4

Mar 22 Spring Break

Mar 24 Spring Break

Mar 29

Frequency Domain Analysis
Bode Plots
10.1-10.2 Studio 7 – Frequency Domain analysis

Mar 31

Nyquist plots
Nyquist stability criterion
10.3-10.5

Apr 5

Phase Margin & Gain Margin
10.6-10.7 Studio 8 – Introduction to LABVIEW

Apr 7

Compensator Design Using Bode Plots
Gain Adjustment
11.1-11.2

Apr 12

Lead & Lag Compensation
11.3-11.5 Studio 9 - LABVIEW

Apr 14

Introduction to State-Space Analysis

Apr 19

Linear Algebra Review
Appendix B Studio 10

Apr 21 Midterm II

Apr 26

State-Space Representations
3.1-3.3 Studio 11 – State-Space Control of Seesaw-Cart System

Apr 28

Canonical Forms
Jordan Block Form

May 3

Transfer Function/State-Space Conversions
Laplace Transform Solutions of State Eq.
Stability in State Space
3.5-3.6
4.9
6.5 Studio 12 – State-Space Control of an Inverted Pendulum

May 5

Controllability
Observability
12.3, 12.5-12.6

May 10

State-Space Controller Design
Pole Placement
Ackermann’s Formulation
12.1-12.2, 12.4

May 12

Course Review

May 22 Final Exam (8-10am)

Instructors:	Dr. Peter Sandborn	Dr. V. K. Pavlin
Office:	ENG 3127	ENG 2140A
Phone:	(301) 405-3167	(301) 405-5246
Email:	sandborn@eng.umd.edu	vp4@umail.umd.edu
Office Hours:	2 – 3:30 pm, Wednesday	2 - 3:30 pm, Monday

Teaching Assistants:	Kaza Ramana Kumar	Swaminathan Saikumar
Office:
Phone:	(301) 405-4055	(301) 405-4055
Email:	kaza@glue.umd.edu	saiswa@wam.umd.edu
Office Hours:

Date	Lecture Topic	Book Sections	Studio
Feb 1	Introduction	1.1-1.7	Studio 1 – Introduction to MATLAB
Feb 3	Laplace Transform Partial Fractions	2.1-2.2	Studio 1 – Introduction to MATLAB
Feb 8	Transfer Functions Time Response from TFs Poles & Zeros	2.3 4.2	Studio 2 – Time-Domain Response
Feb 10	System Modeling	2.4-2.9	Studio 2 – Time-Domain Response
Feb 15	Block Diagrams Feedback Systems	5.1-5.2 7.1-7.4
Feb 17	Feedback Systems (con’t)	7.5-7.6
Feb 22	Time Response (1^st and 2^nd order systems)	4.1-4.6	Studio 3 – Block Diagrams and Feedback Systems
Feb 24	Time Response (high order systems)	4.6-4.8	Studio 3 – Block Diagrams and Feedback Systems
Mar 1	Stability Analysis (Routh Hurwitz Criterion)	6.1-6.4	Studio 4 – Introduction to Experimental Controls
Mar 3	Midterm I		Studio 4 – Introduction to Experimental Controls
Mar 8	Root Locus Method	8.1-8.6	Studio 5 – Root Locus Analysis
Mar 10	Compensator Design Using Root Locus Gain Adjustment	8.7	Studio 5 – Root Locus Analysis
Mar 15	Cascade Compensation PI & PD Compensation	9.1-9.3	Studio 6 – Proportional-Integral Controller Design
Mar 17	PID Compensation	9.4	Studio 6 – Proportional-Integral Controller Design
Mar 22	Spring Break
Mar 24	Spring Break
Mar 29	Frequency Domain Analysis Bode Plots	10.1-10.2	Studio 7 – Frequency Domain analysis
Mar 31	Nyquist plots Nyquist stability criterion	10.3-10.5	Studio 7 – Frequency Domain analysis
Apr 5	Phase Margin & Gain Margin	10.6-10.7	Studio 8 – Introduction to LABVIEW
Apr 7	Compensator Design Using Bode Plots Gain Adjustment	11.1-11.2	Studio 8 – Introduction to LABVIEW
Apr 12	Lead & Lag Compensation	11.3-11.5	Studio 9 - LABVIEW
Apr 14	Introduction to State-Space Analysis		Studio 9 - LABVIEW
Apr 19	Linear Algebra Review	Appendix B	Studio 10
Apr 21	Midterm II		Studio 10
Apr 26	State-Space Representations	3.1-3.3	Studio 11 – State-Space Control of Seesaw-Cart System
Apr 28	Canonical Forms Jordan Block Form		Studio 11 – State-Space Control of Seesaw-Cart System
May 3	Transfer Function/State-Space Conversions Laplace Transform Solutions of State Eq. Stability in State Space	3.5-3.6 4.9 6.5	Studio 12 – State-Space Control of an Inverted Pendulum
May 5	Controllability Observability	12.3, 12.5-12.6	Studio 12 – State-Space Control of an Inverted Pendulum
May 10	State-Space Controller Design Pole Placement Ackermann’s Formulation	12.1-12.2, 12.4
May 12	Course Review
May 22	Final Exam (8-10am)