CCE 405 B-Section A: Biocontrol Systems

Michel Owayjan, M.E. (Beirut)

AMERICAN UNIVERSITY OF SCIENCE & TECHNOLOGY

FACULTY OF ENGINEERING DEPARTMENT OF COMPUTER AND COMMUNICATIONS ENGINEERING

CCE 405 B: BIOCONTROL SYSTEMS

Spring Term 2013-2014
INSTRUCTOR LECTURE HOURS Michel Owayjan, M.E. MWF Room: 11:00 am 11:50 am 303, Block B

OFFICE HOURS

MWF 02:00 pm 03:00 pm T-TH 12:00 pm 01:00 pm Otherwise by appointment Room: 805, Block A

COURSE OBJECTIVES Biocontrol Systems addresses the fundamentals of control systems as applied to numerous engineering systems including Biomedical Engineering. The objectives of the course are to teach the fundamentals of control analysis and design using frequency response and statespace methods. This includes both theoretical and applied aspects of the topic. The student will be trained on the following subject matters: feedback concept, state variable description of linear control systems, block diagrams and signal flow graphs, sensitivity and disturbance analyses, steady state error analysis, stability analysis, time domain analysis, root locus, frequency domain analysis, and control system design in the time and frequency domains. COURSE PREREQUISITES CCE 301: Electronics CCE 330B: Signals and Biosystems MAT 315: Numerical Methods Or Advisors consent

PREREQUISITES BY TOPICS The student should have a basic understanding of how to develop system equations. Such knowledge will be heavily utilized in control system modeling and in classical analysis and synthesis techniques (Root Locus and Bode). The course also assumes a working knowledge of MATLAB. COURSE CREDITS 3 Credit Hours

INSTRUCTION TECHNIQUE Lecture will be used predominantly. These will be supported by problem sets and laboratory projects using MATLAB and LabVIEWTM. REQUIRED TEXT Nise NS. Control Systems Engineering. Sixth Edition Wiley International Edition. New York, NY: John Wiley & Sons, Inc., 2011.
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CCE 405 Section A Control Systems

Mr. Michel J. Owayjan

REFERENCES Kuo BC and Golnaraghi F. Automatic Control Systems. Eighth Edition - Wiley International Edition. New York, NY: John Wiley & Sons, Inc., 2003. Dorf RC and Bishop RH. Modern Control Systems. Tenth Edition (International Edition). Upper Saddle River, NJ: Pearson Education, Inc., 2005. Franklin GF, Powell JD, Emami-Naeini A. Feedback Control of Dynamic Systems. Fourth Edition (International Edition). Upper Saddle River, NJ: Pearson Education, Inc., 2002. OTHER REQUIREMENTS MATLAB & SIMULINK (The Mathworks, Inc., Natick, MA, USA). Student Version. Release 14 or later edition. LabVIEWTM (National Instruments, Austin, TX, USA). Student Edition. Release 8 or later edition. GRADE DISTRIBUTION This course involves a number of didactic activities, ranging from lectures and computer laboratory assignments to problem sets, quizzes, and the midterm and final exams. All of these attributes of the course are intended to help the student in developing his/her understanding of the material covered in CCE 405B and in providing the department and the course instructor with information on how the student is performing. Consequently, all of these activities are considered to be vital and will be taken into consideration while assigning grades at the end of the term. When the student is being assigned a course grade, it is imperative that this grade accurately reflects the students level of achievement and his/her mastery of the material covered in CCE 405B. An approximate breakdown of the weighting that will be used in making this assessment is as follows: Lab Class Attendance Homework Quizzes Project Class Exams Exam 1 Exam 2 Exam 3 Exam 4 Final Exam LAB ATT HWK QZS PRJ EX1 EX2 EX3 EX4 FIN 20% 5% 5% 5% 5% 10% 10% 10% 10% 30%

Note: Three out of the four exams will be counted towards the final course grade based on the highest grades attained. No make-up exams are allowed. Late assignments will be dealt with according to the distributed course rules and regulations, which are governed by the Department of Computer and Communications Engineering. Under severe conditions, only the Final Exam is allowed to be petitioned; however, students have to realize that in the event that a make-up Final Exam is granted, it would be unjust that the grantee becomes privileged over his/her fellow colleagues in terms of extra-time to prepare for the exam and in developing an idea about the contents of the exam. Accordingly, the make-up Final Exam will carry an increased level of difficulty of at least 20% from the regular exam. LEARNING OUTCOMES At the end of the course, the student should be able to do the following:
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CCE 405 Section A Control Systems

Mr. Michel J. Owayjan

Describe the role of feedback control in engineering systems. Utilize some graphical tools in the analysis of control systems. Model and analyze control systems in time and frequency domains. Utilize MATLAB and its Control Toolbox in the analysis and design of control systems. Explain the notion, roles, and practices of control. Determine and analyze the mathematical model of linear control system using transfer functions and state variables. Utilize block diagrams and signal flow graphs as modeling tools. Describe the causes and effects of system disturbance, sensitivity, and steady-state error. Determine basic control system response specifications in the time domain and frequency domain. Design simple controllers to achieve the desired closed-loop response. Discuss control systems ability and its relation to pole location. Apply the Routh-Hurwitz stability test. Draw Bode plots and Nyquist diagrams for analyzing the stability and performance of control systems. Discuss the basics of PID controllers, and phase lead and phase lag compensators.

ATTENDANCE For legitimate reasons only, a student is allowed to absent him/herself for a maximum of 6 contact hours from the course lectures and the tutorial and laboratory sessions . However, any absence of more than one session will be counted toward the 5% evaluation of the course grade. Absences beyond the specified maximum limit will result in an automatic AW in the course and possibly other disciplinary measures. An unexcused absence from an unannounced quiz will result in a zero on that quiz. Should the student be absent from a lecture during which a problem set or a project assignment is due, it is the duty of the student to make certain that the homework assignment is handed in on time. Failure to do so will incur a penalty on that assignments grade. ACADEMIC INTEGRITY The student should get familiar with the Course Rules and Regulations of the Department of Computer and Communications Engineering (CCE) at AUST. These are compiled and distributed to the student at the beginning of every academic term. In particular, the student should be aware that plagiarism, abuse of laboratory facilities, and other sorts of academic dishonesty are not tolerated and can result in unsympathetic penalties. The Department of CCE fully acknowledges the potential significance of students studying together. In this sense, the CCE Department does not have any reservation to this kind of collaboration, as long as all contestants are involved in all facets of the work, and not with each individual contributing to a fraction of the assignment. Specifically, when a student submits an assignment with his/her name on it, the CCE Department takes it for granted that the details presented in the assignment are entirely the students own work, and that this student has substantially participated in the creation of this work. If a portion of the work has been conceived by collaborative work, that section should be highlighted and the names of the students involved in this collaboration should be listed next to that section. Note: No snacks or beverages, including water bottles, are allowed in the classroom.
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CCE 405 Section A Control Systems

Mr. Michel J. Owayjan

PROBLEM SETS For most part of the course, problem sets will be assigned on a weekly basis. A detailed description of the problem set assignment timetable is compiled at the end of this handout. All problem sets are graded on a five-point scale, from 0 to 4. The following table delineates the effort required to achieve each of these grade points.
Grade 0 1 2 3 4 Description The student fails to turn in the homework assignment. The student turns in the homework assignment, but basically, did nothing worthwhile. The student turns in the homework assignment, however most of the problems are either incomplete or non-understandable. The student completes most or all of the problems in the assignment; however, the student still has some evident mistakes in the worked solution. The student completes all of the problems in the assignment, with perhaps little insignificant mathematical mistakes; however in general, the student demonstrates a solid understanding of the material.

LABORATORY ASSIGNMENTS There will be about three laboratory project assignments throughout the term. Handouts, containing detailed descriptions of these assignments, will be distributed through out the course about one week prior to each assignment. The laboratory assignments are MATLAB/ LabVIEWTM-based, and are graded separately from the problem set assignments. These assignments are graded on a five-point scale, from 0 to 4, and according to the same standards as the problem sets. To obtain complete credit for laboratory assignments, the student must submit the following items with the laboratory assignment: MATLAB m-files or LabVIEWTM file containing the Front Panel and Block Diagram. Completely labeled plots and graphs, together with heading, labeled and scaled axes, legends (if applicable), grid, and emphasis of any important features. Complete answers to the problem given and elucidation of the plots and graphs.

Note: Information about MATLAB products can be found on the following URL: http://www.mathworks.com. Information about LabVIEWTM products can be found on the following URL: http://www.ni.com/labview.

PROJECTS Three projects will be assigned during the semester. Some of them are to build robots or practical control projects; others are to create simulations using MATLAB and LabVIEW. These projects should be completed by teams of 2 to 3 students, and each team is required to present their project in front of the whole class at the end of the semester. Students are required to write a 4-page conference paper about their projects following the IEEE standards. SOME INTERESTING LINKS
MIT Open Courseware: http://ocw.mit.edu/OcwWeb/Aeronautics-and-Astronautics/16-31Feedback-ControlSystemsFall2001/CourseHome/index.htm John Hopkins University Signals, Systems and Control Demonstrations: http://www.jhu.edu/~signals/ Carnegie Mellon Control Tutorials for MATLAB: http://www.engin.umich.edu/group/ctm/index.html Embedded Systems Programming PID without PhD: http://www.embedded.com/2000/0010/0010feat3.htm?_loopback=1 George Mason University Classical Control Systems Design Procedures and Examples of Course Concepts: http://ece.gmu.edu/~gbeale/ece_421/examples_421.html -4-

CCE 405 Section A Control Systems

Mr. Michel J. Owayjan

COURSE OUTLINE BY TOPIC The day-to-day topics to be covered in the table below may be adjusted as the subject proceeds, but all examination dates are fixed, and problem set due dates are unlikely to change.

Basic Control System Concepts (2 Hours) Introduction Control System Definition and applications History of Control Systems The basic features and configurations of control systems Analysis and Design Objectives The Design Process Computer-Aided Design Read Section The Control Systems Engineer Transfer Functions of Physical Systems (5 Hours) Introduction Laplace Transform Review The Transfer Function Electric Network Transfer Functions Translational Mechanical System Transfer Functions Rotational Mechanical System Transfer Functions Transfer Functions for Systems with Gears Electromechanical System Transfer Functions Electric Circuit Analogs Read Section Nonlinearities Linearization State Equations for Physical Systems (3 Hours) Introduction Some Observations The General State-Space Representation Applying the State-Space Representation Converting a Transfer Function to State Space Converting from State Space to a Transfer Function Linearization Read Section

Week No. 1

Day M M M M W W W W

Date (MM/DD/YYYY) 02/17/2014 02/17/2014 02/17/2014 02/17/2014 02/19/2014 02/19/2014 02/19/2014 02/19/2014

1-3 F F F M W F F M M M M 3-4 W W W W F M M 4 4-5 F F F M M W F F F F F 6 M M M W 03/24/2014 03/24/2014 03/24/2014 03/26/2014 03/14/2014 03/14/2014 03/14/2014 03/17/2014 03/17/2014 03/19/2014 03/21/2014 03/21/2014 03/21/2014 03/21/2014 03/21/2014 W 03/05/2014 03/05/2014 03/05/2014 03/05/2014 03/07/2014 03/10/2014 03/10/2014 03/12/2014 02/21/2014 02/21/2014 02/21/2014 02/24/2014 02/26/2014 02/28/2014 02/28/2014 03/03/2014 03/03/2014 03/03/2014 03/03/2014

EXAM No. 1
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Transient Response (4 Hours) Introduction Poles, Zeros, and System Response First-Order Systems Second-Order Systems: Introduction The General Second-Order System Underdamped Second-Order Systems System Response with Additional Poles System Response with Zeros Effects of Nonlinearities upon Time Response Read Section Laplace Transform Solution of State Equations Read Section Time Domain Solution of State Equations Read Section Equivalent Systems (3 Hours) Introduction Block Diagrams Analysis and Design of Feedback Systems Signal Flow Graphs

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CCE 405 Section A Control Systems Week No.

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Mr. Michel J. Owayjan Day W F F F M Date (MM/DD/YYYY) 03/26/2014 03/28/2014 03/28/2014 03/28/2014 03/31/2014

Masons Rule Signal-Flow Graphs of State Equations Alternative Representations in State Space Similarity Transformations Read Section 7 7

EXAM No. 2
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Transient Response Stability (2 Hours) Introduction Routh-Hurwitz Criterion Routh-Hurwitz Criterion: Special Cases Routh-Hurwitz Criterion: Additional Examples Stability in State Space Read Section Forced Response Errors (3 Hours) Introduction Steady-State Error for Unity Feedback Systems Static Error Constants and System Type Steady-State Error for Disturbances Read Section Steady-State Error for Nonunity Feedback Systems Sensitivity Steady-State Error for Nonunity in State Space Read Section A Graphical Tool (4 Hours) Introduction Defining the Root Locus Properties of the Root Locus Sketching the Root Locus Refining the Sketch An Example

W W F F F 8 M M W W F F F 9-11 M M M W W W 10 F M M M M 11-12 W W F M M M 12-14 W W F F 13 M W F F M M M

04/02/2014 04/02/2014 04/04/2014 04/04/2014 04/04/2014

04/07/2014 04/07/2014 04/09/2014 04/09/2014 04/11/2014 04/11/2014 04/11/2014

04/14/2014 04/14/2014 04/14/2014 04/16/2014 04/16/2014 04/23/2014 04/25/2014 04/28/2014 04/28/2014 04/28/2014 04/28/2014

EXAM No. 2
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Transient Response Design via Gain Adjustment Generalized Root Locus Root Locus for Positive-Feedback Systems Read Section Pole Sensitivity Read Section Design using the Graphical Tool (3 Hours) Introduction Improving Steady-State Error via Cascade Compensation Improving Transient Response via Cascade Compensation Improving Steady-State Error and Transient Response Feedback Compensation Read Section Physical Realization of Compensation Sinusoidal Tools (6 Hours) Introduction Asymptotic Approximations: Bode Plots Introduction to the Nyquist Criterion Sketching the Nyquist Diagram EXAM No. 4

04/30/2014 04/30/2014 05/02/2014 05/05/2014 05/05/2014 05/05/2014

05/07/2014 05/07/2014 05/09/2014 05/09/2014 05/12/2014 05/14/2014 05/16/2014 05/16/2014 05/19/2014 05/19/2014 05/19/2014

Stability via the Nyquist Diagram Gain Margin and Phase Margin via Nyquist Diagram Gain Margin and Phase Margin via Bode Plot Steady-State Error Characteristics from Frequency Response Systems with Time Delay Read Section Obtaining Transfer Functions Read Section -6-

CCE 405 Section A Control Systems

Mr. Michel J. Owayjan

Design using Sinusoidal Tools (4 Hours) Introduction Transient Response via Gain Adjustment Lag Compensation Lead Compensation Lag-Lead Compensation READING PERIOD

Week No. 14-15

Day W F M W F

Date (MM/DD/YYYY) 05/21/2014 05/23/2014 05/26/2014 05/28/2014 05/30/2014 05/31/2014 06/01/2014 06/02/2014 06/10/2014

15

S Su M T

FINAL EXAM WEEK

16-17

DISCLAIMER: Changes may be performed to the above syllabus without any prior notification.
Copyright 2005-2014 American University of Science & Technology Faculty of Engineering - Department of Computer and Communications Engineering. All rights reserved.

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CCE 405 Section A Control Systems

Mr. Michel J. Owayjan

PROBLEM SETS
All problem set assignments will be handed in class one week prior to their submission date. Concurrently, a copy of each assignment will be placed on closed reserve in the university library. The solution to each problem set will be posted in the afternoon following the submission of the assignment in the university library. Problem Set No. 1: TBA Problem Set No. 2: TBA Problem Set No. 3: TBA Problem Set No. 4: TBA Problem Set No. 5: TBA Problem Set No. 6: TBA Problem Set No. 7: TBA Problem Set No. 8: TBA Problem Set No. 9: TBA Problem Set No. 10: TBA

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