ME4054 System Dynamics and Control

Fall 2015
Professor Joshua A. Schultz, Ph.D.
Assistant Professor
Mechanical Engineering

2035 Stephenson Hall

phone: 918-631-3846
email: joshua-schultz@utulsa.edu

Time & Space MWF 10-10:50 AM

U9 Keplinger Hall
Lab Sections TTh 2-5 PM
1140 Stephenson Hall

Oce Hours Mon 3:15 5:00 PM or by appointment (set up by email).

Book System Dynamics, 4th edition,
by Katsuhiko Ogata
Prentice Hall ISBN: 0-13-142464-9

Objectives
This course introduces students to dynamic modeling of engineering dynamic systems and the fundamentals of classical linear control theory. The focus is formulation of the dierential equations
that describe the behavior of engineering systems that can be accurately described by linear, time invariant models. Students will
develop an understanding of how the time-domain behavior can be
concisely understood using algebraic functions of the complex variable (Laplace domain). This will culminate in the ability to specify
dynamic system behavor within reasonable limits by designing an
automatic controller. Upon completing the class, the student will
be able to:
create transfer function models for mechanical, electrical, fluid,
and thermal engineering systems from first principles
linearize nonlinear dynamic equations to find a linear time
invariant approximate model

 predict and characterize the dynamic response of a linear time

invariant system based on its transfer function model
understand and perform operations on control block diagrams
determine under what circumstances and for what parameter
values a dynamic system will be stable
Choose system parameters that result in favorable performance.
Design an automatic feedback controller using root locus techniques
Design an automatic feedback controller using frequency response techniques

Expectations In keeping with TUs mission, both professors and students should
be committed to excellence in scholarship. Students should put
forth the required eort to learn the material. Attending each class
period is the absolute minimum expectation. If a student misses
a class period for any reason, it is the students responsibility to
make alternative arrangements for learning the material. Although
peripheral and obscure material will by and large be avoided on
assignments and exams, anything covered in class or assigned readings can be considered fair game on an exam.
Each student is expected to be conversant in the skills and methods
taught in prior courses. Example of topics you should know:
Geometry and Trigonometry including the laws of sines
and cosines, direction cosines, properties of circles and triangles, and the most common trig identities.
Complex Numbers
Theory of ordinary dierential equations, including Laplace
transforms
Dierential and Integral Calculus: computing derivatives and integrals of most elementary functions, properties
of series and convergence.

 Basic behavior of passive linear circuit elements (resistors, capacitors, inductors)

Rigid body dynamics
A background in complex variables, real and complex analysis will
allow for deeper understanding of the course material but is not
required. It is the students responsibility to review material from
prior courses should they find that they are no longer proficient. As
the material from which this course draws is broad, material from
prior courses will not be reviewed.
Students are encouraged to cultivate skill in eective use of computers to solve engineering problems and to confirm engineering
intuition. In particular, Mathworks MatLab will be emphasized,
but students will not be penalized who complete the work using
other packages. Students are encouraged to collaborate on assignments, but each must turn in his/her own work with the exception
of lab exercises. Course time will not be devoted to teaching the
use of particular computational tools and software packages; students should use whatever tools they are most motivated to learn
or those with which they are most familiar.
All assignments will be posted and are to be submitted on the
Harvey @ The University of Tulsa web system. Students who have
diculty using the web system should contact the Harvey support
sta.

Grading Your grade will be calculated using the following weights

Homework
10 %
Hour Exams 30 %
Final Exam 30 %
Lab Reports 30 %
Letter grades according to the following criterion are guaranteed:
A
B
C
D
F

100 90
89 80
79 70
69 60
59 0

Exams There will be two in-class 50 minute exams and one comprehensive
final exam (Friday, December 11, 9:0011:25 AM). Each of
the exams will be closed book. Students are allowed a copy of the
Laplace Transform table, as many notes as they can fit on the back
side of the table, and a calculator. Cell phones must be turned o
and placed out of reach. Anyone caught using a cell phone during
an exam will be dismissed from the exam and receive a grade of F.

Lab Exercises A total of four lab exercises will be completed to build proficiency in
fitting and verifying models experimentally and applying automatic
controllers to real-world engineering systems. Lab exercises will
be conducted in Stephenson 1140 in the lab section for which the
student is registered. This lab is an integral part of the course;
there is not an option to take the course without the lab. The
lab must be taken in the same semester as the course. Students
must complete all four lab exercises and submit reports on their
work according to the instructions in the lab manual. Students will
perform the lab exercises in groups.

Homework Homework will be assigned periodically on the ME-4054 Harvey

website, clearly organized by week. Homework should be
submitted on Harvey by the date and time indicated on the assignment. It is the students responsibility to check Harvey for their
assignments. Late homework will be penalized by 2 points per
day for the first two days, after which a grade of 0 will be given
for the assignment. Unless stated otherwise in the assignment, any
clearly legible presentation of the solution, meaning the answer and
documentation of all steps of reasoning required to obtain the answer, (e.g. scan of handwritten notes, clearly commented MatLab
.m file, clearly commented C++ code with output) is acceptable.
The grader will be permitted to give a grade of 0 to code that contains no comments. If a certain software is required to open the
file, it must be software for which TU has a site license, so if you
write your homework in FORTRAN for instance, submit your code
as plain text.

Academic Academic dishonesty will not be tolerated. Any student engagDishonesty ing in cheating on exams, plagiarism, and other forms of academic
dishonesty will be investigated and penalized according to the College of Engineering & Natural Sciences Academic Misconduct Pol-

icy (posted on the Harvey website for this class).

Student Services Students with disabilities should contact the Center for Student
Academic Support to self-identify their needs. The center is located in Lorton Hall, room 210. All students should take time to
familiarize themselves with the services provided by the center for
Student Academic Support, such as tutoring, academics counseling,
and skill development. The center also provides confidential consultations to all students as well as students with disabilities.

Class Schedule
(subject to change)

Week
1

Date
24-Aug

Lecture no.
1

26-Aug

1
2
2
2
3
3
4
4
4

28-Aug
31-Aug
2-Sep
4-Sep
9-Sep
11-Sep
14-Sep
16-Sep
18-Sep

3
4
5
6
7
8
9
10
11

5
5
5
6
6
6

21-Sep
23-Sep
25-Sep
28-Sep
30-Sep
2-Oct

12
13
14
15
16
17

5-Oct

18

7
7

7-Oct
9-Oct

19
20

12-Oct

21

14-Oct

22

8
9
9

16-Oct
19-Oct
21-Oct

23
24
25

23-Oct

26

10
10

26-Oct
28-Oct

27
28

10
11
11

30-Oct
2-Nov
4-Nov

29
30
31

11
12

6-Nov
9-Nov

32
33

12
12
13
13
13

11-Nov
13-Nov
16-Nov
18-Nov
20-Nov

34
35
36
37
38

14

30-Nov

39

14

2-Dec

40

14
15

4-Dec
7-Dec
11-Dec

41
42
9-11:25 AM

Topic
Mathematical Review: ODEs LaPlace Transforms, Complex Variables, Polynomials
LaPlace Transforms, Heaviside and Dirac functions
Dynamic Models of Electrical Systems
Dynamic Models of Electrical Systems
Dynamic Models of Mechanical Systems
Dynamic Models of Mechanical Systems
Dynamic Models of Mechanical Systems
Dynamic Models of Fluid Systems
Dynamic Models of Fluid Systems
Dynamic Models of Thermal Systems
Dynamic Models of mixed-domain (combined)
systems
Analogous Systems
Linearization of Dynamic Models
Transfer Functions, poles and zeros
Transfer Functions, poles and zeros (cont.)
Block diagrams, block diagram operations
Finding transfer functions by block diagram reduction
Partial Fraction Expansions, response to initial
conditions
Exam I
System Order vs. System type, first and second
order response
Pole locations in the complex plane, overdamped,
critically damped, underdamped
Frequency domain analysis, sinusoidal steady
state inputs
Vibration suppression, resonance
Introduction to feedback control
Transient Response, the final value theorem,
steady state error, error constant
Transient Response, rise time, settling time, overshoot
Stability, the Routh criterion
Introduction to the Root Locus Method: Angle
and Magnitude Conditions
Drawing the Root Locus
Controller Design using the Root Locus Method
Controller Design using the Root Locus Method
(cont.)
Exam II
Introduction to the Frequency Response Method:
Bode Plots
Drawing Bode Plots
Drawing Bode Plots (cont.)
Nyquist plots, the Nyquist Stability Criterion
Robustness, gain margin and phase margin
Controller design using the frequency response
method
Controller design using the frequency response
method (cont.)
Controller design using the frequency response
method (cont.)
The PID Controller, Ziegler-Nichols Tuning Rules
Review
Final Exam

Chapter
2

Section
2.1,2,5

2.3,

6
6
3
3
3
7
7
7
6

6.1,2
6.3
3.1,2
3.3,4
3.3,4
7.1,2
7.3,5
7.6
6.5

6
7
4
4
10
4

6.4
7.4
4.1
4.1,4
10.2
4.2

4.3

8.1,2

8.3,4

9.1,9,2

9
10
10

9.3-6
10.1,3
10.4,6

10

10.5

10
10

10.7
10.8

10
10
10

10.8,9
10.8,9
10.8,10

11

11.1,2

11
11
11
11
11

11.2,3
11.2,3
11.4,5
11.4,5
11.6

11

11.6

11

11.6

10

10.1