Engi 6825: Control Systems II
Fall 2010

Instructor:   Tariq Iqbal, Faculty of Engineering and Applied Science, Memorial University of Newfoundland. Email: tariq@mun.ca 

 

Website:  Formal D2L based course website can be accessed at http://online.mun.ca The course website contains latest course information, copies of overheads used in the class, project details, and the course supporting material. Students are expected to submit all assignments, project reports, midterm and the final exam on the course website.                            

 

Reference books:

  1. Matlab for Control Engineers, by Ogata K., Pearson Education Inc., 2008. (ISBN 0-13-615077-2)
  2. Modern Control Engineering, 4th edition, by Ogata, K., Prentice Hall Inc., 2002. (ISBN 0-13-060907-2)
  3. Modern Control Design with Matlab and Simulink, by Ashish Tewari, John Wiley, 2002
  4. Control Tutorials for Matlab available online at http://www.mame.mu.oz.au/~mcg/ctrl301/matlab/ctm/index.html

Course Description:

The aim of this course is to develop student knowledge and understanding of control system design, simulation and implementation. This course will examine state space models for multi-input/output systems; observability, controllability; state feedback without and with integral controller structure, state observers; quadratic optimal regulator and tracking control strategies; discrete-time state equations; and an introduction to optimal control. At the end of this course students will be able to model electro-mechanical systems, simulate systems in Matlab/Simulink, design controllers for a system, test and evaluate the performance of the designed controller.

 

 

Lectures:  Monday, Wednesday and Friday: 12:00-12:50pm in the room En1000.

Office Time:  Tuesday 1:00pm to 3:00pm + you are welcome anytime in my office.

Assignments due dates: A1 (Sept. 24), A2 (Oct. 8), A3 (Oct. 22), A4 (Nov. 5), A5 (Nov. 19),

Project due dates: Design and simulation (Sept. 29), implementation and testing (Oct. 29), final report and demonstration (Nov. 26)

 

Evaluation Scheme:

Mid Term Test (Oct. 18, 2010)            20 %

Final Exam                                           40 %

Assignments (5x4)                                20 %

Project 20% (Design and simulation =5, testing and demonstration=10, final report =5)                                                 

 

Assignments:

There will be five control design assignments in this course. In each assignment students will be asked to design and simulate a specific controller for two pre-selected practice systems. Therefore, each student is required to select two practice systems for self-use during the course. Each student should select practice systems different from the systems selected by other students in the class. Selected systems should be single input system with an order two or more. Knowledge of system control inputs, outputs, states and the disturbances is essential. A website submission of one page description of each selected practice system, including a brief description, a photo, a block diagram with sub-blocks transfer functions and description of the control task will be sufficient to reserve a practice system. Student selected systems will be allotted on the first come first serve basis. Therefore, before selecting and submitting your practice systems visit the course website and review already submitted practice systems. Students are expected to decide and finalize the selection of practice systems during the first week of the term.

 

Design Project:

In this course students will also work on a control system design and demonstration group project. This year project is to design a coupled tanks level control system. A coupled tanks system is formed by joining three tanks using pipes, two control valves and a12V DC pump. In a coupled tanks system shown below, system states are level H1 in tank 1 and level H2 in tank 2. Control input is the water flow rate Qi into tank 1 from the tank 3. Flow from tank 2 always end up in tank 3 through valve C (tank 3 should be capable of holding tank 1 and tank 2 water). The variable to be controlled is level (H2) in tank 2. Objective of this project is to design the system and a PIC16F684 based PID type level controller to maintain water level in tank 2 to a set value with an error of +/-1mm. System disturbance will be the setting of valve C i.e. a change in flow rate from tank 2 to tank 3. Task is to measure level in tank 1 and tank 2 using level sensors (float and potentiometer based analog level sensors) and control water flow into tank 1 from tank 3 using the pump speed (e.g. change PIC PWM output duty ratio) and maintain a constant level in tank 2. During normal control operation, the level measurement in tank 1 should be used to avoid water overflow in tank 1. You will also need a float switch in tank 3 to indicate low water level in tank 3. Pump should not operate if water level in tank 3 is below the low water level. This is a group project and three students are expected in a group.