Course title
N0690700
Control Engineering

 ito kazuhisa Click to show questionnaire result at 2018
Course description
Medical, assisttive, rehabilitation robots are important technologies in highly aged society, like Japan. These are strongly supported by control engineering. This lecture provides basic knowledge on control theory for SISO linear system in frequency domain approach (transfer function). Based on Control Engineering I, system stability, controller design (PID controller) and related topics are discussed.
Purpose of class
Topics covers system stability and design of feedback controller (PID controller).
Goals and objectives
  1. -intuitive understanding of dynamical system, response of 1st/2nd order transfer functions between time domain and frequency domain
  2. -stability distinction of SISO linear system
  3. -design of PID controller and its explanation
Language
Japanese
Class schedule

 Class schedule HW assignments (Including preparation and review of the class.) Amount of Time Required
1. -description of linear system response
-Laplace transformation-1: definition and property 		dynamics/statics, ordinary differential equation(ODE), linearity 200minutes
2. -Laplace transformation-2: application for solving ODE preparation of PPT slides, final value theorem, delta function, convolution integral 200minutes
3. -Laplace transformation-3: correspondence between time/frequency domain preparation of PPT slides, partial fraction decomposition, Heaviside's theorem 200minutes
4. -response of 1st order system preparation of PPT slides, impulse response, step response, time constant, gain 200minutes
5. -response of 2nd order system preparation of PPT slides, complex plane, damping coefficient, natural angular frequency 200minutes
6. -example of modelling: mechanical system and electrical system preparation of PPT slides, mass-spring-damper system, LCR circuit 200minutes
7. -midterm exam
-solution and comment 		misunderstanding and pitfall 200minutes
8. -system stability preparation of PPT slides, Hurwitz criterion 200minutes
9. -block diagram and transfer function preparation of PPT slides, Laplace transformation 200minutes
10. -frequency characteristics-1: definition and physical interpretation preparation of PPT slides, dB gain, phase shift 200minutes
11. -frequency characteristics-2: Bode diagram preparation of PPT slides, rationalization of complex number, MATLAB/Simulink 200minutes
12. -stability of feedback system preparation of PPT slides, Nyquist criterion, gain margin, phase margin 200minutes
13. -PID controller-1: physical interpretation and effects
-PID controller-2: I-PD control 		preparation of PPT slides, proportional/integral/derivative control, steady state error, time constant 100minutes
preparation of PPT slides, noise 100minutes
14. -final exam
-solution and comment 		misunderstanding and pitfall 360minutes
Total. - - 2960minutes
Relationship between 'Goals and Objectives' and 'Course Outcomes'

 assignment midterm exam final exam Total.
1. 10% 15% 5% 30%
2. 10% 15% 10% 35%
3. 10% 0% 25% 35%
Total. 30% 30% 40% -
Evaluation method and criteria
-assignment(30%)
-midterm exam(30%)
-final exam(40%)

Condition of eligible students is:
1) All assignments should be submitted, and
2) Midterm exam has been sit
Note: These conditions are not for credit recognition.

Accreditation criteria is to be able to solve and explain problems in assignments.
Textbooks and reference materials
PPT slides, writing on blackboard
Prerequisites
complex plane, differential and integral of elementary functions
Office hours and How to contact professors for questions
  • 13:30-17:00 on Mon.-Wed.
  • students need appointment
Relation to the environment
Non-environment-related course
Regionally-oriented
Non-regionally-oriented course
Development of social and professional independence
  • Course that cultivates a basic problem-solving skills
  • Course that cultivates an ability for utilizing knowledge
Active-learning course
More than one class is interactive
Last modified : Wed Oct 17 07:22:00 JST 2018