2021 Modeling and Control Theory A

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Academic unit or major
Undergraduate major in Mechanical Engineering
Yamaura Hiroshi  Omata Toru 
Course component(s)
Lecture    (ZOOM)
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Course description and aims

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.

Student learning outcomes

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


System and Modeling, Laplace transforms, Transfer function, Block diagram, Transient response, Frequency characteristics, Nyquist diagram, Bode diagram, stability, stability criterion, PID control,Dynamic compensator

Competencies that will be developed

Specialist skills Intercultural skills Communication skills Critical thinking skills Practical and/or problem-solving skills

Class flow

Little test will be done at the last of every lecture; No.1 - 7.
Lecture with a presentation software.

Course schedule/Required learning

  Course schedule Required learning
Class 1 System and modeling Exercise
Class 2 Transfer function (1) Exercise
Class 3 Transfer function (2) Exercise
Class 4 Block diagram Exercise and Little test
Class 5 Transient response (1) Exercise
Class 6 Frequency response - Nyquist diagram Exercise
Class 7 Frequency response - Bode diagram (1) Exercise
Class 8 Frequency response - Bode diagram (2) Understand the bode diagrams of the phase lead and lag compensation controllers
Class 9 The Nyquist criterion Understand the stability of feedback control systems and the Nyquist criterion
Class 10 Phase margin and gain margin Understand the definition and usage of phase margin and gain margin
Class 11 Steady state characteristic of feedback control systems Understand the steady state characteristic of feedback control systems
Class 12 Performance evaluation of feedback control systems Understand the performance evaluation of feedback control systems
Class 13 Design of PID controller and phase lead compensation controller Understand the PID controller and phase lead compensation controller and their design methods
Class 14 Design of phase lag compensation controller Understand the phase lag compensation controller and its design method

Out-of-Class Study Time (Preparation and Review)

To enhance effective learning, students are encouraged to spend approximately 100 minutes preparing for class and another 100 minutes reviewing class content afterwards (including assignments) for each class.
They should do so by referring to textbooks and other course material.


Handout will be distributed.

Reference books, course materials, etc.

"Dynamic Modeling and Control of Engineering Systems", Bohdan T. Kulakowski、 John F. Gardner, Cambridge University Press

Assessment criteria and methods

Students’ course scores are based on reports, little exam and exercises (70%), and final exam (30%).
If the final exam cannot be conducted, it will be replaced with reports or exercises.

Related courses

  • Robot Kinematics
  • Fundamentals of Instrumentation Engineering
  • MEC.I332 : Exercise in Mechatronics

Prerequisites (i.e., required knowledge, skills, courses, etc.)

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.

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