Download - EE 460 Advanced Control and Sys Integration Monday, August 24 EE 460 Advanced Control and System Integration Slide 1 of 13.

EE 460 Advanced Control and Sys Integration

Monday, August 24 EE 460 Advanced Control and System Integration Slide 1 of 13

http://www.erau.edu/

EE 460 Advanced Control and System Integration

Course Outline

Monday, August 24

• Course Web Page: mercury.pr.erau.edu/~bruders Canvas

o Please set the Time Zone in CANVAS to Arizona (NOT EASTERN TIME ZONE) in two places (go to Settings):– First when you first enter CANVAS, and then for each course

• Textbook(s): Required Text: Control Systems Engineering, 7th Edition by

Norman S. Nise Optional Text: Linear State-Space Control Systems by R.L.

Williams II and D.A. Lawrence - ISBN 978-0-471-73555-7

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http://mercury.pr.erau.edu/~bruders/

https://sso.erau.edu/oam/server/obrareq.cgi?encquery%3D7x%2BBbx9B5h71Fmk%2BZgM%2BSKMicn00hqvtTU8MBjcFtU2OLB5BQHGTq%2BK2EzoCgigYVk57jTroKV/vM7GsBFzh3T%2Bcl5kLmwhGV5i97IHZ07RRGW8Ytmg3kvbwPTUe88W7PgPBakTpr7pz4PEf0E%2BhHBEaM%2BwdHm%2BJa2lkgzxM5hqieF9iXowl1aJ%2BTybxwE2UQwLfWYKahHMOvvXtA%2B8C0OvQ1v73gPCcnc/gJGFCdIQJx0ana8C0VC2wkFWDBpD3PUxPAHe3VSaWPHi1rlUex5wHPObEP/Tf%2B1aE2URY8c16Yhh%2BcgTyzB/XkWQLwc2lKryk9RlgcrfshaK9XmbdaEwv%2Boji2eNYuDvZby0b%2BloNuDbxSMEKrm%2Bz7GsoZnbml2hzKnfEYdMJxF%2B8S9VhtP0FwO6XB9jaUZbO3UQEyr0%3D%20agentid%3DIAMWebGate%20ver%3D1

http://www.wiley.com/WileyCDA/WileyTitle/productCd-EHEP002908.html

http://www.wiley.com/WileyCDA/WileyTitle/productCd-0471735558,subjectCd-EE30.html



Course Outline

Monday, August 24

• Software Usage: MATLAB and Simulink and Mathematica (optional) or MATLAB symbolic toolbox

• Lectures: (Section 01) When: M/W/F 2:00 p.m. – 2:50 p.m. Where: KEC Rm 130

• Office Hours: When:

o Monday, Wed, and Friday 10:00 am – 11:00 am &o Monday and Wed 3:00 pm – 4:00 pm

Where: KEC Rm 108

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http://www.mathworks.com/



Course Outline

Monday, August 24

• Instructor: Dr. Stephen Bruder Office: King Eng. Center Rm. 108 Email: [email protected]

Slide 4 of 13

http://mercury.pr.erau.edu/~bruders/

mailto:[email protected]


Course Outline

Monday, August 24 EE 460 Advanced Control and System Integration

• Course Description

Study of modern control methods including state variables,

controllability and observability, and modern design

techniques. Topics covered include state space realization

theory, observability/controllability, linear feedback

control, observers and Kalman filtering or Optimal Control

A design project will be part of the coursework.

Slide 5 of 13


Course Outline


• Course Description Brief Review of required linear algebra (2-weeks)

o Basic matrix theoryo Concept of rank, determinant, …o Eigenvectors, eigenvalues, transformations, etc.

State Space Representation(s) (3-weeks)o PVCF, observable, and controllable formso Solving for the state transition matrixo Relationship between state-space and classical controlo Basic Linearization

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Course Outline


Observability and Controllability (1-week) Linear Feedback Control (2-weeks)

o Full state fb, Output fb, and pole placemento Ackerman’s formulae

Linear Observer Design (2-weeks)o Full order observerso Reduced order observers

Kalman Filtering (2-weeks)o Intro to Random processeso Least squares estimationo The discrete Kalman Filter

Linear, Quadratic Optimal Control (alternative to KF)

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Course Outline


• Grading Scheme Ten Homework Assignments: 30%

o Your lowest hwk grade will be droppedo Must show work

– Providing only the answer is insufficient!!o The work you submit MUST be your own!!

Two Mid-Term Exams: 15% each (total 30%)o Open book and open noteso Exams will be cumulative

Class Participation: 5%

o Attend class and participate constructively

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http://mercury.pr.erau.edu/~bruders/teaching/Fall_2015/EE460/ee460.html



Course Outline


• Grading Scheme

Final Project: 35%o Will include an in-class presentation and final project reporto Each student will analyze, design, and implement a state-

space controller– Hardware will be provided

» Linear or rotary inverted pendulum» Other systems (e.g., Qbot 2 mobile robot)

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http://www.feedback-instruments.com/pdf/brochures/33-005-PCI_datasheet_DigitalPendulum_MATLAB_10_2013.pdf

http://www.quanser.com/products/qbot2


Course Outline


• Class Schedule

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Introduction to Modern Control: What is modern control?


Modern Control Classical Control

Applicability• MIMO systems• Time-varying systems

• SISO systems• Time-invariant systems

Required Math• Linear algebra • Laplace transform

Modeling• State-space equations• Continuous & discrete time

• Transfer functions• Continuous & discrete time

Analysis• Time domain• Pole placement, observability,

controllability, …

• Time & frequency domain• Root locus, Routh Hurwitz, …

Design• Observer, state -feedback

controller, …• Optimal, robust, nonlinear control

• PID controller• lead-lag compensator•

Implementation• Embedded computer• m- processor, DSP, FPGA, …

• PLC• OP-Amps, circuit elements, …

• What is modern control?


History of Control Theory


• Classical control: pre-1950 Transfer function based methods

o Time-domain design & analysis o Frequency-domain design & analysis

• Modern control: 1950 to 1980 State-space-based methods

o Optimal control o Adaptive control

• Post modern control: post-1980 H∞ control Robust control Non-linear control


Steps to Deploying a Controller


• Step1: Modeling & Identification Physics based ODE models

• Step2: Analysis Stability, controllability, and observability

• Step3: Design Classical, modern, and post-modern control

• Step4: Simulation MATLAB, Simulink, Mathematica, etc….

• Step5: Implementation PLC, Embedded computer, …
