Unit convenor and teaching staff |
Unit convenor and teaching staff
Unit Convenor
Professor Graham Town
Contact via via iLearn
E6B 133
9 - 11am Tuesdays
Unit Convenor
Dr Mihai Ciobotaru
Contact via via iLearn
tbd
tbd
Mihai Ciobotaru
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Credit points |
Credit points
3
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Prerequisites |
Prerequisites
(ELEC240 or ELEC260) and (ELEC270 or ENGG270) and (MATH232 or MATH235)
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Corequisites |
Corequisites
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Co-badged status |
Co-badged status
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Unit description |
Unit description
This unit extends the foundations of time and frequency domain descriptions of linear systems and their dynamics to include feedback control. The unit introduces the concept of state-space and its application in modelling and design of feedback control systems, and the foundations of computer-based and optimal control systems are also introduced. Applications of feedback are explored, including regulation of physical and chemical processes, control of process dynamics, and stability and robustness in the presence of external disturbances.
The latter concepts and applications are illustrated using examples from diverse areas, including biomedical, electronic, electrical, mechatronic, and wireless engineering.
Experimental work is used to illustrate the impact of feedback on the dynamics, stability, and compensation of servo-motor systems and electronic circuits. MatLab is used extensively for system modelling and design. The unit provides a strong foundation for advanced topics in most engineering majors.
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Information about important academic dates including deadlines for withdrawing from units are available at https://www.mq.edu.au/study/calendar-of-dates
On successful completion of this unit, you will be able to:
Students are reminded of the University policies regarding assessment, academic honesty and disruption to studies.
Requests for extension on assessable work are to be made to the Unit Coordinator, but will only be considered in the event of illness or misadventure
Name | Weighting | Hurdle | Due |
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Regular tutorial assignments | 20% | No | see iLearn for unit schedule |
Major assignment | 10% | No | see iLearn for unit schedule |
Quizzes | 10% | No | see iLearn for unit schedule |
Laboratory tasks and reporting | 5% | No | see iLearn for unit schedule |
Laboratory report | 5% | No | see iLearn for unit schedule |
Final examination | 50% | No | as per exam timetable |
Due: see iLearn for unit schedule
Weighting: 20%
Assigned weekly problems as per the unit schedule, to be submitted via iLearn for marking.
Due: see iLearn for unit schedule
Weighting: 10%
An assignment task defined early in semester, to be completed during the semester, and submitted for assessment via iLearn as per the unit schedule.
Due: see iLearn for unit schedule
Weighting: 10%
3 multiple choice quizzes (~ 15 minutes each) conducted in class during semester on the days listed in the unit schedule.
Due: see iLearn for unit schedule
Weighting: 5%
Four laboratory tasks (starting Week 1, and then as per the unit schedule) to be completed and recorded in a dedicated laboratory workbook for assessment in the laboratory.
Due: see iLearn for unit schedule
Weighting: 5%
A detailed report of the work conducted and results obtained for one of the laboratory tasks is to be submitted for assessment via iLearn, as specified in the unit schedule.
Due: as per exam timetable
Weighting: 50%
Moderated 3 hour closed-book examination at the end of semester. A formula sheet identical to that available on iLearn will be provided.
N.S. Nise, “Control Systems Engineering”, John Wiley & Sons, 7th edn 2014. ISBN: 9781118170519
All students will be assumed to have access to this textbook. All tutorial problems will be taken from this text.
There is an associated student resources webpage (e.g. with m-files for textbook examples):
http://bcs.wiley.com/he-bcs/Books?action=index&itemId=1118170512&bcsId=9295
Lecture notes will be handed out each week - it is expected that students read these notes before the next class at which they will be discussed.
All unit resources and communications relating to this unit, including a detailed week-by-week schedule of learning and assessment activities, will be provided via the iLearn unit website (see below).
The iLearn web page for this unit can be found at: https://ilearn.mq.edu.au/login/MQ/
All information and communications relevant to this unit will be via that website.
Laboratory and tutorial classes will rely heavily on the use of MatLab and Simulink with the Control Toolbox. You are encouraged to use these tools to complete and check all tutorial and assignment work. The software is available through iLab and on Faculty computers.
LABORATORIES
COMMUNICATIONS
= supplementary reference - not held in Macquarie University Library
K.J. Astrom and B. Wittenmark, “Computer-Controlled Systems: Theory and Design”, Prentice-Hall, 3rd edition, 1997.
R.H. Bishop, “Modern Control Systems Analysis and Design Using MATLAB”, Addison-Wesley, 1997. (Supplement to Dorf & Bishop).
R.C. Dorf and R.H. Bishop, “Modern Control Systems”, Addison-Wesley.
J. Dorsey, Continuous and Discrete Control Systems”, McGraw-Hill, 2002.
G.F. Franklin, J.D. Powell and A. Emami-Naeini, “Feedback Control of Dynamic Systems”, 4th edition, Addison-Wesley, 2002.
G.F. Franklin, J.D. Powell, and M.L. Workman, “Digital Control of Dynamic Systems”, Addison-Wesley, 3rd edition, 1998.
G.C. Goodwin, S.F. Graebe and M.E. Salgado, “Control System Design”, Prentice Hall 2001.
B.C. Kuo and F. Golnaraghi, “Automatic Control Systems”, Wiley, 8th edition, 2002.
N.E. Leonard and. W.S. Levine, “Using MATLAB to analyze and design control systems”, 2nd edition, Addison-Wesley, 1995.
W.C. Messner and D.M.. Tilbury, “Control Tutorials for MATLAB and Simulink – A Web-based Approach”, Addison-Wesley. (see also CTM websites listed below).
K. Ogata, “Modern Control Engineering”, 4th edition, Prentice-Hall, 2001.
R.T. Stefani, B. Shahian, C.J. Savant, G.H. Hostetter, “Design of Feedback Control Systems”, Oxford University Press, 4th edition, 2002.
A. Stubberud, I.J. Williams, and J.J. DiStefano, “Schaum's Outline of Feedback and Control Systems”, McGraw-Hill, 2nd edition, 1994.
A. Tewari, “Modern Control Design With MATLAB and Simulink”, John Wiley & Sons, 2002.
MATLAB and Simulink Student Version
Unit homepage: https://ilearn.mq.edu.au/login/MQ/
This document, the schedule, assignments and other documents required for this unit will be available for download from the above website.
Text website (student resources, etc):
http://bcs.wiley.com/he-bcs/Books?action=index&itemId=1118170512&bcsId=9295
Control system tutorials using MATLAB & Simulink:
http://ctms.engin.umich.edu/CTMS/index.php?aux=Home
Control Engineering Virtual Library
http://www-control.eng.cam.ac.uk/extras/Virtual_Library/Control_VL.html
MathWorks Website (MATLAB, Simulink, user-guides, tutorials, etc):
https://au.mathworks.com/academia/courseware.html
https://trainingenrollment.mathworks.com/selfEnrollment?code=TSH4E9QU6C9G
http://www.mathworks.com/academia/
http://www.mathworks.com/help/techdoc/
http://www.mathworks.com/help/toolbox/simulink/
http://www.mathworks.com/help/toolbox/control/
UNIT OVERVIEW
This unit is concerned with two main topics; system modeling, and controller design, with emphasis on system transient response, steady-state response, and stability. We will mostly be concerned with systems that are continuous, linear, and time-invariant (LTI), so the latter topics can be dealt with in both the time-domain (TD.: differential equation, and state-space desriptions) and frequency-domain (FD.: transfer function description, characterised by its poles and zeroes). It is also intended to briefly cover some advanced control topics such as nonlinear control, robust control, optimal control, and optimal state estimation in the presence of noise (i.e. Kalman filtering). Some of the results from continuous LTI systems will then be extended to discrete-time systems (i.e. computer control).
References to relevant sections in the text and references are given in the table below (N=Nise 5th edn. D=Dorf 9th edn., F=Franklin 4th edn., S=Stefani 4th edn.)
Main topic |
Sub-topic |
References |
Continuous system modeling |
Mathematical models |
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Differential equation (TD) |
N3.2, D2.2, F2.1 |
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State space (TD) |
N3.3-6, D3, F2.2, S8.2 |
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Transfer function (FD) |
N2, D2.5, F2.1 |
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Laplace transforms (TD & FD) |
N2.2, D2.4, F3.1, FAppA, SAppB |
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System reduction methods |
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Signal flow graphs (T.D.) |
N5.4-6, D2.7, F3.2, S1.14 |
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Block diagrams (F.D.) |
N5.2-3, D2.6, F3.2, S1.13 |
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System response characteristics |
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Steady-state response |
N7, D4.5, D5.7-5.8, F4.3, S3.3 |
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Transient response |
N4, D4.3, D5.3-6, F3.3, S2.2-4 |
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Stability |
N6, D6, D9, F3.6 S1.12, S2.5 |
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Sensitivity to parameter changes and disturbances |
N7.7, D4.2, D4.4, F4, F6.9, S3.6 |
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Continuous controller design |
Root locus methods (à transient response) PID control |
N8-9, D7, D10, F5, S4-5 |
N9.4, D7.7, D12.6, F4.2, S3.7.2 |
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Bode & Nyquist methods (à frequency response) Lag-lead compensation |
N10-11, D8, D10, F6, S6-7
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N11.5, D10.4-8, F6.7, S7.7 |
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State-space (TD) design |
N12, D11, F7, FappD-E |
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Controller design |
N12.2-12.3, F7.3, S9.2-3 |
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Observer/estimator design |
N12.5-12.7, F7.5, S9.4-5 |
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Additional topics |
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Optimal control |
D5.9, D11.4, F7.4.2, S10.2-4 |
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Kalman filter |
S10.3 |
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Robust control |
D12, F7.9, S10.5-7 |
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Nonlinear control |
F5.7.3 |
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Discrete system modeling and control |
Mathematical models |
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Sampled-data system modeling |
N13.1-8, D13.3-8, F4.4, S11.3-7 |
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z-transform |
N13.3, D13.4, F8.2, S11.4 |
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System response characteristics |
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Stability |
N13.6, D13.6, S11.7.4, S11.8.2 |
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Computer control design |
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Frequency-domain design |
N13.9-11, D13.8-11, F8.3, S11.8 |
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State-space design |
F8.5, D13.11, S11.9 |
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Direct design |
F8.4, S11.10 |
A detailed week-by-week schedule of learning and assessment activities and topics for this unit is available on the unit's iLearn web page.
Macquarie University policies and procedures are accessible from Policy Central (https://staff.mq.edu.au/work/strategy-planning-and-governance/university-policies-and-procedures/policy-central). Students should be aware of the following policies in particular with regard to Learning and Teaching:
Undergraduate students seeking more policy resources can visit the Student Policy Gateway (https://students.mq.edu.au/support/study/student-policy-gateway). It is your one-stop-shop for the key policies you need to know about throughout your undergraduate student journey.
If you would like to see all the policies relevant to Learning and Teaching visit Policy Central (https://staff.mq.edu.au/work/strategy-planning-and-governance/university-policies-and-procedures/policy-central).
Macquarie University students have a responsibility to be familiar with the Student Code of Conduct: https://students.mq.edu.au/study/getting-started/student-conduct
Results shown in iLearn, or released directly by your Unit Convenor, are not confirmed as they are subject to final approval by the University. Once approved, final results will be sent to your student email address and will be made available in eStudent. For more information visit ask.mq.edu.au.
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Learning Skills (mq.edu.au/learningskills) provides academic writing resources and study strategies to improve your marks and take control of your study.
Students with a disability are encouraged to contact the Disability Service who can provide appropriate help with any issues that arise during their studies.
For all student enquiries, visit Student Connect at ask.mq.edu.au
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All laboratory work is now being assessed.
Specific assessment tasks and their weightings have been changed.