This course focuses on modeling of electric motor systems, electric circuits, vibration systems etc., and covers analysis techniques of linear time-invariant systems and design method of feedback control systems as a basis of linear control theory.
The topics include transfer function derivation of dynamic models, analytical techniques of system characteristics using the transfer functions, and design methods of feedback control systems based on the definition of system stability and some stability criterions.
At the end of this course, students will be able to:
1) Derive transfer functions of linear time-invariant systems from their dynamic models.
2) Have an understanding of analytical techniques using block diagram, vector locus and bode diagram, and on the basis of them, examine system characteristics expressed as transfer functions.
3) Explain the definition of stability and confirm system stability.
4) Have an understanding of feedback control systems and their design methods based on classical control systems and deign control systems that satisfy design specifications
Laplace transforms,Transfer function, Block digram, Bode diagram, stability, PID control
|Intercultural skills||Communication skills||✔ Specialist skills||Critical thinking skills||✔ Practical and/or problem-solving skills|
Lectures for two classes are carried out in a day. At the beginning of each lecture, solutions to exercise problems that were assigned during the previous lecture are reviewed. Towards the end of the lecture, students are given exercise problems related to the lecture given that day to solve. To prepare for class, students should read the course schedule section and check what topics will be covered. Required learning should be completed outside of the classroom for preparation and review purposes.
|Course schedule||Required learning|
|Class 1||Introduction to control||Understand the concept of feedback control|
|Class 2||The Laplace transform||Understand the Laplace transform|
|Class 3||Dynamic model and transfer function of physical systems||Understand how to model physical systems, for example, electric circuits and vibration systems and how to derive their motion equations and transfer functions|
|Class 4||Block diagram||Understand block diagrams and how to transform their structures|
|Class 5||Inverse Laplace transform - Time response||Understand the relationship between transfer functions and time responses|
|Class 6||Frequency response and vector locus||Understand the relationship between transfer functions and characteristics in the frequency domain|
|Class 7||Bode diagram||Understand bode diagram expression and how to utilize asymptotic curves|
|Class 8||Review of the first half of the course (classes 1–7) and midterm exam.||Revise what was taught during classes 1-7 to prepare for the exam.|
|Class 9||System stability and the Routh-Hurwitz stability criterion||Understand system stability in control theroy and the Routh-Hurwitz stability criterion|
|Class 10||The Nyquist criterion||Understand stability of feedback control systems and the Nyquist criterion|
|Class 11||Phase margin and gain margin||Understand the definition and the usage of phase margin and gain margin|
|Class 12||Feedback control system characteristics - Sensitivity charactersitic and steady state charactersitic||Understand the definition and the usage of sensitivity charactersitic and steady state charactersitic|
|Class 13||Performance evaluation of control systems and PID control||Understand the performance evaluation of control systems, the charactersitics of a PID controller and its design method|
|Class 14||Phase lag compensation and phase lead compensation||Understand the structure of a phase lag compensation and a phase lead compensation and their design methods|
|Class 15||Phase lead-lag compensation||Understand the design method of a phase lead-lag compensation|
Sugie, Toshiharu. Fujita, Masayuki. Introduction to Feedback Control. Corona Publishing, ISBN 978-4339033038. (Japanese)
Students’ course scores are based on midterm and final exams (80%) and exercise problems (20%).
Students must have successfully completed Engineering Mechanics, Complex Function Theory and Ordinary Differential Equations or have equivalent knowledge. It is desirable to take this course for taking MEC.I332:Exercise in Mechatronics.