Using MATLAB/Simulink as CAD, this course provides development of intuition for linear system analysis and controller design
based on the knowledge of Control engineering I-III.
Topics cover basic operation of MATLAB/Simulink, linear system analysis and controller design with CAD.
- analysis and design of linear system with frequency domain approach (transfer function model) using MATLAB/Simulink
- analysis and design of linear system with time domain approach (state space model) using MATLAB/Simulink
- stabilizing controller and state observer designs for the inverted pundulum system
| Class schedule | HW assignments (Including preparation and review of the class.) | Amount of Time Required | |
|---|---|---|---|
| 1. | guidance and review of control engineering | system modelling, transfer function, block diagram | 60minutes |
| 2. | basic operation of MATLAB | function plot, screencontrol | 30minutes |
| least-square method | 30minutes | ||
| 3. | Fourier series and Fourier transform | Fourier series expansion and examples | 30minutes |
| Fourier transformation and examples | 30minutes | ||
| Laplace transformation and examples | 30minutes | ||
| 4. | transfer function, transient response, frequency response (classical control) | transfer function of 1st/2nd order systems and their time responses | 30minutes |
| frequency response of linear system | 30minutes | ||
| Bode plot of linear system | 30minutes | ||
| 5. | analysis design of feedback control system (classical control) | time domain analysis of control system with parameters | 30minutes |
| system stability | 30minutes | ||
| 6. | stability of control system, modeling of dynamic system (classical control) | modelling of mechanical system and numerical simulation | 45minutes |
| modelling of electrical motor system and numerical simulation | 45minutes | ||
| 7. | state space representation of LTI system and transfer function | state space description of spring-mass-damper system | 60minutes |
| matrix operation | 30minutes | ||
| 8. | response of state space representation and numerical simulation | matrix exponential, general solution of ordinary differential equation | 90minutes |
| 9. | controllability and observability of linear system | controllability and controllable grammian | 45minutes |
| observability and observable grammian | 45minutes | ||
| 10. | application of m-file, eigenvalue and eigenvector, stability of system | eigenvalue and eigenvector | 60minutes |
| input-output stability of linear system | 30minutes | ||
| 11. | relations among diagonalization of system, controllability and observability, invariance under regular transformation |
diagonalization of matrix, Jordan matrix | 90minutes |
| 12. | pole placement with state feedback, observer design |
positive definite (semidefinite) matrix | 45minutes |
| state variable feedback, Achermann method | 45minutes | ||
| 13. | design problem-1: inverted pendulum -problem formulation -free response |
modelling of inverted pendulum system | 60minutes |
| PID controller | 60minutes | ||
| 14. | design problem-2 -controllability -state feedback design |
optimal control (LQR problem) | 45minutes |
| design of state observer | 45minutes | ||
| Total. | - | - | 1200minutes |
| assignment | final report | Total. | |
|---|---|---|---|
| 1. | 25% | 10% | 35% |
| 2. | 25% | 10% | 35% |
| 3. | 20% | 10% | 30% |
| Total. | 70% | 30% | - |
Evaluation with assignment(70%) and final report(30%)
*lab. work attendance is very important at CAD room
*lab. work attendance is very important at CAD room
- 15:00-17:00, Mon.-Wed.
- students need appointment
- Course that cultivates an ability for utilizing knowledge
- Course that cultivates a basic problem-solving skills
- Course that cultivates a basic self-management skills
- Course that cultivates a basic interpersonal skills
Last modified : Wed Oct 17 07:05:08 JST 2018