ISTANBUL TECHNICAL UNIVERSITY DEPARTMENT OF MECHANICAL ENGINEERING

MAK 331E SYSTEM DYNAMICS AND CONTROL
CRN 15297
Fall 20132014
ANNOUNCEMENTS: · In this class; attendance will be regularly collected, and 70% attendance rule will be applied. · Course web site NINOVA will be actively used. Check it regulary. 
Instructor : Associate Prof. Dr. Erdinç Altuğ
Phone & Email : (0212) 293 13 00 / 2838 & altuger@itu.edu.tr
Lecture hours : Wednesday 14:3015:20, Friday 08:3010:20 (A201)
Office : Room 442
Office hours : Mond, Wed, and Friday 10:30 – 12:00
Prerequisites : Physics I, Physics II, Differential Equations (courses)
Mechanics, Linear Differential Equations (by topic)
Catalog Description:
Introduction to system dynamics and control, Transfer function of linear systems. Linearization, Transient response analysis, Stability analysis, Basic control algorithms and structures, PID tuning methods, Frequency response analysis, Basic controller design methods and examples.
Textbooks :
Modern Control Systems, Richard C. Dorf, Robert H. Bishop  Addison Wesley.
Modern Control Engineering – OGATA – Prentice Hall
(Obtain a copy of the textbook. Studying from lecture notes is not enough. Memorizing previous year’s exams solutions will not help you learn the topics.)
Other References :
1. Control Systems Engineering, Norman S. Nise  John Wiley&Sons, Inc.
2. Automatic Control Systems, Benjamin C. Kuo, Farid Golnaraghi – John Wiley&Sons, Inc.
3. Feedback Control of Dynamics Systems, Franklin Powell, Emami Naeimi Addision Wesley
4. Otomatik Kontrol Temelleri, N. Özdaş, T. Dinibütün, A. Kuzucu – Birsen
5. The Student Edition of MATLAB, Prentice Hall.
6. The Student Edition of SIMULINK, Prentice Hall.
7. R. H. Bishop, 1997, Modern Control Systems Analysis and Design Using MATLAB and SIMULINK, Prentice Hall.
8. B. Shahian, M. Hassul, Control System Design Using MATLAB, Prentice Hall.
9. Web based control tutorial for MATLAB/ SIMULINK located at http://www.engin.umich.edu/class/ctms.
10. MAK331E Lecture Notes available at the photocopy center.
Homework:
The homework assignments will be collected in the classroom at the end of the last lecture period of the due day. Late and copied homework will not be accepted (meaning a grade of zero). While discussing course material and homework with your classmates is encouraged, it is a must that everyone does her/ his own work.
Software:
The programs MATLAB and Simulink by MathWorks Inc. (all registered trademarks) are available in the university. Some homework assignments will require the use of these programs.
Topics 
Ogata, 4^{th} ed. 
Dorf&Bishop, 12^{th} ed. 
Introduction to System Dynamics and Control 
chapter 1, pp. 18 
chapter 1 
Laplace Transformations 
chapter 2, pp. 952 
chapter 2 
Linearization 
chapter 3, pp. 112114 
chapter 2, pp.5558 
Transfer Functions and Block Diagrams 
chapter 3, pp. 5570 
chapter 2, pp.7984 
Mathematical Modeling of Dynamic Systems Statespace modeling 
chapter 3, pp. 53151 
chapters 2, 3 
Transient and SteadyState Response of Dynamic Systems 
chapter 5, pp. 219275 
chapter 4 
Feedback Control, PID Control 
chapter 5, pp. 281288

chapter 4 chapter 7, pp.480483 
Stability, Routh Method 
chapter 5, pp. 275281 
chapter 6, pp.386399 
PID Tuning Methods 
chapter 10, pp. 681691 
chapter 7, pp.487492 
Control System Performance 
chapter 5 
chapter 5 
Frequency Response Analysis (Bode Plots, Nyquist Locus, Bandwidth, Gain and Phase Margins) 
chapter 8, pp. 492617 
chapter 8 
TERM PROJECT
The term project is a group work. Each group may be composed of 2 or 3 students with the same CRN. Each group will be given a different control example and work independently. The procedure for the project is outlined below.
· Work groups will be assigned an example of a feedback control system from suggested textbooks.
· Show your system to your assistant. Please have your group members’ names and project title registered before or after a class session.
· Projects copied directly from the Control Tutorials for Matlab or any other website will NOT be accepted.
· Projects that almost complete solutions are given in the textbooks such as inverted pendulum, hard disk drive or DC motor are NOT accepted, but you can use them as examples.
· Do not forget to comment on every step, graph, etc. All figures should have captions and axes on all graphs should be labeled.
· Project will be graded based on the completeness and the degree of difficulty. Completeness is more important than degree of difficulty.
· Write the project title, your group members’ names & numbers and also instructor’s name on the cover page.
· Each group will upload only one report via Ninova in MSWord format.
· Please use the assigned numbers before your solution in the report.
PROJECT STEPS FOR PART 1: The following steps will be accepted as HW1 and submitted via Ninova before the first Midterm exam
1) (If available) give the differential equations of the system, try obtaining the transfer function yourself.
2) Briefly explain how the system works and what the components are by drawing a block diagram of the system and answer following questions;
a) What is the variable to be controlled? (temperature of the room or speed of an engine, etc.)
b) How is it controlled? (type of feedback measurement sensor, type of actuator, etc.)
c) What is the desired performance criteria/objective of the control system?
3) Analyze the openloop characteristics of the system
a) Show the location of zero(s) and poles in Splane.
b) Calculate the impulse response of the system by applying partial fraction and Laplace Transformation, plot time versus output graphic
c) Calculate the unitstep response of the system by applying partial fraction and Laplace Transformation, plot time versus output graphic
d) Use Matlab to obtain the impulse response and step response of the system. Compare with your calculations in (b) and (c)
e) Comment on the pole locations and the response of the system. Verify the results using the Final Value Theorem.
4) Include your references in the report.
PROJECT STEPS FOR PART 2: This part will be accepted as HW2 and also submitted via Ninova before the second Midterm exam
5) Obtain the closed loop transfer function and block diagram of the system firstly using a simple proportional controller. Calculate the range of K where the system is stable using Routh Criteria.
6) Depending on the system type (type 0, Type 1, etc.) and the performance measures of your system (such as fast response, zero steadystate error, etc.) suggest a PI, PD or PID controller. Try using ZieglerNichols Method to tune the controller coefficients. Obtain the final response and report your conclusion. An alternate method to find the controller coefficients is that selecting the most appropriate pole location and finding the controller that will relocate the poles to desired locations.
7) If any of the steps requested in the homework is not applicable to your system, explain the situation clearly and state the reasons that prevent the step to be applied for your system in order to get points for that step. (such as any of the ZieglerNichols methods).
TERM PROJECT: Finalize your project with following steps and resubmit as term project before the Final exam
8) Examine the Frequency Response of the system and point out the bandwidth, phase and gain margin of the system.
Repeat this step for
a) open loop system
b) closedloop system with proportional controller
c) closedloop system with the final version of your controller given in the step 6.
9) Observe the effects of PID terms on the phase and gain margin of the system.
10) Write a conclusion explaining whether you have achieved the goal(s) of your project given with some performance criteria to start with in the step 2c.
11) Include all references at the end of your report.
Assessment Criteria :

Quantity 
Total Percentage % 
Midterm Exams 
2 
40 
Homeworks 
3 
10 
Term Project 
1 
10 
Final Exam 
1 
40 
Important Note on Grading Policy:
1) Attendance to at least 70% of class hours AND at least 35/100 of Midterm average are necessary for admission to the Final exam.
2) Medical reports for midterms will NOT be accepted by the instructors. No makeup exam will be given without official approval of the Mechanical Engineering Department.
3) Copied or (suspiciously) similar Projects will get 0 (zero) point.
4) Late homework assignments will NOT be accepted.
5) Homework assignments and project will require Matlab programming.
6) Some weeks there will be an extra hour for Matlab demonstrations and problem solving. Attendance will not be compulsory.
7) The ITU eLearning system Ninova will be used for HW assignments and various announcements.
[Last updated on Tuesday, August 31, 2010]