Course Details

1. Derive the mathematical model of basic electrical, mechanical and hydraulic control systems and obtain experimentally the plant parameters of classical spring-mass control systems, by measuring indirectly the mass, spring, and damping parameters
2. Examine the action of aperiodic Signals in the Transient-Response Analysis of First-, Second- and Higher-Order Control Systems and Implement experimentally Transient Response Analysis of First- and Second-Order classical Control spring-mass Systems
3. Examine the action of the Proportional, Integral and Derivative Controllers on the static and transient characteristics of Control Systems and model the effects of basic controllers on classical spring-mass systems via data acquisition techniques and simulate their action using MATLAB/ Simulink software.
4. Interpret the meaning of stability of control systems in terms of the transfer function and judge the stability of a closed-loop control system from the Routh-Hurwitch Criteria.
5. Judge the performance of three distinct controller designs in rejecting low and higher frequency disturbances.
6. Draw Bode and Nyquist Plots Plots and judge the stability of a control system using the Phase and Gain margin in criteria in frequency domain plots
7. Realise State space transfer functions, Canonical forms, and Transformation of system models.
8. Solve the linear time-invariant state equations and compute the state-transition matrix of linear time-invariant control systems
9. Apply Lyaponov stability analysis techniques for non-linear systems

�      Review of Classical Control Theory: Laplace Transform, Open-loop, closed loop control systems, Transfer function, Dynamic Systems

�      Mathematical Modelling of Dynamical Control Systems Block Diagrams. Signal-Flow Graphs. Modelling in State Space. Electrical and Mechanical Systems

�      Transient-Response Analysis Aperiodic Signals. First-Order Systems. Second-Order Systems. Higher-Order Systems.

�      Control Actions and Response of Control Systems: Proportional, Integral and Derivative Control Actions. Effects of Control Actions on System’s Performance. 

�      Stability of Control Systems Ruth-Hurwitz Stability Criterion. Steady-State Errors in Control Systems.

�      Frequency Domain Approach Bode Plots, Phase and Gain margin. Nyquist Plots and Nyquist Stability.

�      Introduction to state space analysis: Review matrix algebra, eigenvalues and eigenvectors, State variables, State-space equations,

�      Linear time-invariant systems: linear time-invariant state equations, State-transition matrix of linear time-invariant control systems

�      Lyaponov stability analysis: Non-linear systems, First and second methods of Lyaponov. Stability analysis of non-linear systems, stability analysis.

Laboratory work: 

�      Plant parameter identification for Linear / Tortional (ECP) Control Systems

�      Rigid Body PD & PID Control of Linear / Tortional (ECP) Control System          

• R.C. Dorf and R.H. Bishop, Modern Control Systems, Prentice Hall, 2004
• K. Ogata, Modern Control Engineering, Prentice Hall, 2002

• G.F. Franklin, J.P. Powell and Enami-Naeini, Feedback Control of Dynamic Systems, Prentice Hall, 2002.
• N.S. Nise, Control Systems Engineering, John Willey & Sons, 2000.

�      Students are taught the course through lectures (3 hours per week) in classrooms or lectures theatres, by means of traditional tools or using computer demonstration.

�      Auditory exercises, where examples regarding matter represented at the lectures, are solved and further, questions related to particular open-ended topic issues are compiled by the students and answered, during the lecture or assigned as homework.

�      Topic notes are compiled by students, during the lecture which serve to cover the main issues under consideration and can also be downloaded from the lecturer’s webpage. Students are also advised to use the subject’s textbook or reference books for further reading and practice in solving related exercises. Tutorial problems are also submitted as homework and these are solved during lectures or privately during lecturer’s office hours. Further literature search is encouraged by assigning students to identify a specific problem related to some issue, gather relevant scientific information about how others have addressed the problem and report this information in written or orally.

�      Laboratory experiments are carried out in small groups and lab reports are required two weeks after the laboratory class resulting in a cumulative mark.

�      Students are assessed continuously and their knowledge is checked through tests with their assessment weight, date and time being set at the beginning of the semester via the course outline.

�      Students are prepared for final exam, by revision on the matter taught, problem solving and concept testing and are also trained to be able to deal with time constraints and revision timetable.