*The Ohio State UniversityDepartment of Electrical and Computer Engineering*

**Instructor:** Prof. Kevin M. Passino, Rm. 416 Dreese Laboratories, Office hours: Please come see

me any time or if you would like a special time to meet set up an appointment (passino [at] ece.osu.edu).

**Text: **Dorf R.C., Bishop, Modern Control Systems, 11th Ed., Pearson Prentice Hall, NJ, 2008

**Grading:** (Tentative) Midterm 25%; Quizzes (four or five) 20%; Homework
10%; Projects (2) 20%; Final Exam 25% (to include a design component)

**Objective: **Provide introductory, fundamental concepts in feedback
control systems, and motivate interested students in pursuit of advanced
study in the control systems area.

**Prerequisites: **EE 351, EE352

**Miscellaneous: **Homework will be assigned regularly and collected and/or graded randomly. All assignments must be completed as a course requirement; penalty for late homework and projects will be 10%/day. You are responsible for any and all alterations in homework assignments, exam and quiz dates, and course related announcements in general which occur in the lecture. In other words, come to class!

**Lecture Topic**

- Introduction: The Control Problem, Terminology, Motivation for Feedback
- Dynamics of Mechanical Systems
- Dynamics of Electro-Mechanical Systems [Homework #1] [HW#1 Solutions]
- Modeling other physical systems, state variable models / MATLAB for simulation
- Principles of Feedback: A Case Study (Disturbance Rejection)
- Principles of Feedback: A Case Study (Sensitivity to Plant Parameter Variations) [Homework #2] [HW#2 Solutions]
- P, I, D, and PID Control
- Tracking and System Type
- Time Domain Specifications in Terms of Poles and Zeros, Stability [Quiz #1 Solutions] [Homework #3] [HW#3 Solutions]
- Stability and the Routh Criterion
- Stability and the Routh Criterion: Examples
- Root Locus Construction [Homework #4] [HW#4 Solutions]
- Root Locus Construction [Quiz #2 Solutions]
- Root Locus Construction / Root Locus Examples
- Root Locus Examples, Gains from the locus / MATLAB for Root Locus Construction
- Midterm Exam
- The Root Locus Method for Lead Compensator Design [Design Project #1] [Design Project #1 Solutions]
- Root Locus Design Example: Lead Compensation
- The Root Locus Method for Lag Compensator Design, Design Example
- Bode Plots (complex roots and unstable systems), Examples / MATLAB
- Stability Margins and Performance Specifications, Examples
- Lead Compensator Design Example (MATLAB)
- Lag Compensator Design Example (MATLAB) [Design Project #2] [Design Project #2 Solutions]
- Lead/Lag Compensator Design Example (MATLAB)
- PID Controller Design [Quiz #3 Solutions]
- Design Example
- State variable approach: model, conversion to/from transfer functions / MATLAB
- Stability analysis, Pole Placement Design
- Pole Placement Design Example (MATLAB)
- Review and Preview of Control

**Computer-Aided-Design of Control Systems:** There will be several design
problems where you will be expected to use the theoretical concepts from
the course and the CAD package MATLAB to design controllers for various
physical systems (e.g., motors, aircraft, robots, etc.).