436-301 Control Systems

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Objectives:

On completion of this subject students should be able to:

• formulate linearised mathematical models of mechanical engineering systems;

• determine time - and frequency - domain responses of such systems;

• analyse quantitatively the effects of feedback on system performance;

• make effective use of computational aids of the analysis and design of continuous control systems;

• design simple linear, continuous feedback-controllers;

• simulate system performance including the effects of simple nonlinearities.

Content:

Analysis: Review of mathematical representations of linear continuous dynamical systems; Fourier and Laplace analysis of signals and systems. Linearisation of models. Transient and steady-state time responses, frequency response, stability. Root locus, Bode and Nyquist plots. Effects of feedback on steady-state accuracy, sensitivity, disturbance rejection, speed and stability of response.

Design: Classical compensator design using root locus and frequency response techniques; lead, lag, lag-lead, PID, Cascade and feedback compensation.

Nonlinearities: Effects of simple nonlinearities on control system performance; Coulomb friction, saturation, backlash; sinusoidal describing functions, limit cycles. Simulation of nonlinear systems using Matlab.

Case studies: Detailed examination of control design issues for representative mechanical and manufacturing engineering systems, such as machine tool axis or active vehicle suspension.

Assessment: