ENME 362

Vibration, Controls, and Optimization II

Spring 2000

Sections 0101 and 0102
Lecture 12:00–12:50 Monday and Wednesday, EAB 0307
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:	9 – 11 am, 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 8, 2000
• Midterm 2 – April 24, 2000
• Final Exam – Wednesday May 24, 2000, 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 will be provided  only in the following cases:

• Justifiable reasons if notified in advance (i.e., University approved religious observance, interview, court date, athletic event, etc.).  In this case, a makeup date and time must be scheduled in advance. 
• With a documented reason for an unnotified emergency absence (i.e., family or medical emergency, traffic accident, etc.)

Note, if one of the above criteria is not met, I am not obligated to give you a makeup exam.

Tentative Syllabus - This syllabus is an accurate list of the topics that will be covered and their order, however, the lecture dates for specific topics are approximate.  Homework assignments and due dates will be given in lecture.

Date	Lecture Topic	Book Sections (Nise 2nd Ed.)	Studio
Jan 31	Introduction	1.1-1.7, 2.1	Studio 1 – Introduction to MATLAB
Feb 2	Laplace Transform Partial Fractions	2.2
Feb 7	Transfer Functions Time Response from TFs Poles & Zeros	2.3 4.1, 4.2	Studio 2 – Time Response
Feb 9	System Modeling Electrical Systems Op Amps	2.4
Feb 14	System Modeling Mechanical Systems Block Diagrams	2.5 5.1-5.2
Feb 16	Steady State Errors	7.1-7.4
Feb 21	Steady State Errors (con’t)	7.5-7.6	Studio 3 – Block Diagrams and Feedback Systems
Feb 23	Time Response (1st and 2nd order systems)	4.3, 4.4
Feb 28	Time Response (high order systems)	4.6-4.8	Studio 4 – Introduction to Experimental Controls
Mar 1	Stability Analysis (Routh Hurwitz Criterion)	5.3 6.1, 6.2
Mar 6	Review
Mar 8	Midterm I
Mar 13	Root Locus Method	8.1-8.4	Studio 5 – Root Locus Analysis
Mar 15	Root Locus (con't) Gain Adjustment	8.5-8.7
Mar 20	Spring Break		Spring Break
Mar 22	Spring Break
Mar 27	Cascade Compensation PI Compensation	9.1, 9.2	Studio 6 – Proportional-Integral Controller Design
Mar 29	PD & PID Compensation	9.3, 9.4
Apr 3	Frequency Domain Analysis Bode Plots	10.1, 10.2	Studio 7 – Frequency Domain Analysis
Apr 5	Bode Plots (con't) Nyquist plots Nyquist stability criterion	10.2-10.5
Apr 10	Phase Margin & Gain Margin	10.6, 10.7	Studio 8 – Introduction to LABVIEW
Apr 12	Compensator Design Using Bode Plots Gain Adjustment	11.1, 11.2
Apr 17	Review
Apr 19	Midterm II
Apr 24	Introduction to State-Space Analysis	Appendix B	Studio 9 - Linear System Analysis
Apr 26	Linear Algebra Review
May 1	State-Space Representations	3.1-3.3	Studio 10 – State-Space Control of Seesaw-Cart System
May 3	Canonical Forms Jordan Block Form
May 8	Transfer Function/State-Space Conversions	3.5, 3.6	Studio 11 – State-Space Control of an Inverted Pendulum
May 10	Laplace Transform Solutions of State Eq. Stability in State Space	4.9 6.5
May 15	Course Review
May 24	Final Exam (8-10am)