MANGOSUTHU TECHNIKON

Learner Guide
2016

FACULTY OF ENGINEERING

DEPARTMENT: Electrical Engineering

Qualification: National Diploma: Engineering:

(Electrical)
Code: 3208105

SUBJECT: Control Systems III

Subject Code: Cosy231

Date Revised: Jan 2016

Revised by: RF Chidzonga
Name of Lecturer : Mr. R.F. Chidzonga

Office : 1. No. A-99

Telephone : 031- 907 7476

Fax No : 031 - 907 7249

E-Mail : rcfoya@mut.ac.za / rfchidzonga@gmail.com

Consultation times : See times on lecturers’ door.

Head of Department : Prof O Owolawi

Room number : 2-3-18-12
Telephone : 031 907 7221
Fax No : 031 907 7249

Departmental Secretary : Ms C.M. Mthembu

Contact details : 031 907 7249

Lectures : 4 Periods/ week

Practicals : 4 Periods/ week
Tutorials : Incorporated into lectures

Lecture Venues : Students to be advised at beginning of each

semester.

Practical Venue : New Telecoms Lab

Tutorial Venue : Same as lecture venue

Duration of Course : 16 Weeks (12 Teaching Weeks)

1. Welcome And Introduction

2
 Welcome to the second nationally accredited programme dealing with
control systems that you will be doing at this institution. In this course you
will be introduced to some advanced analysis and design tools as well as
problem solving skills needed to understand and work with control systems
in modern industry.

This learner guide will provide you with useful information that will assist
you in mastering the course outcomes, which are the end results of the
learning process you will be engaged in. You will also find information the
learning outcomes that will be achieved in the course, the knowledge
necessary to achieve these outcomes, the criteria by which you will be
assessed and the assessment methodologies that will be employed to
ensure that you have reached a satisfactory level of competence in the
various outcomes.

2. Purpose of this Subject

A learner who has successfully completed this subject will be able to:

 To understand and concept of control systems and apply basic

control tools to analyse system dynamics.
 Analyse and design basic controllers based on understanding how
controller gain variations affect system behaviour.
 Understand the principles behind open and closed loop behaviour
of systems over a specified range of input frequencies.
 Investigate and analyse the use of lead, lag, PID controllers in
industrial applications and how these may be tuned.
 Understand the need for and means to provide specialised
solutions in the rapidly changing technology environment of today’s
engineering organization.

3. Pre-Requisites

Institutional admission requirements for the National Diploma in Electrical

Engineering apply, as set out in the Engineering Faculty Handbook.
Additional pre-requisites for this subject namely are:

Mathematics III,
Control Systems II.

4. Recognition of Prior Learning (RPL)

The Institutional Policy on RPL applies. See the Head of Department for
advice.

5. Specific outcomes of the qualification addressed by this subject

6. Learning Outcomes
7. Assessment Criteria

3
8. Learning And Teaching Strategies
9. Embedded Knowledge (Indicative content)

THE ABOVE ARE PRESENTED IN TABLE FORMAT – SEE BELOW

4
 Specific outcomes with Assessment Criteria Learning and Essential embedded
Learning outcomes Teaching Activities knowledge
SO1: Provide practice for investigation of the effects of variation in system gain on system behaviour.
Analyse system behaviour  Rules for root locus construction.  Lectures  Understanding the
using root locus  Know its particular features.  Tutorials laws of logarithms.
techniques. 1st and 2nd  Measurement of the transient performance  Assignments  Routh-Hurwitz
order systems characteristics of a control system and setting  Practical. stability testing.
their boundaries using root contours and  Internet  Drawing accurately
stability testing. scaled graphs.

Apply the above  Know how to handle performance  Lectures  Design techniques
information to the design specifications and translate these into root  Tutorials for corrective action.
of a suitable controller. locus boundaries.  Assignments  Behaviour analysis
 Know how to calculate gain “K” graphically  Matlab Practical. techniques.
from the accurate root locus.  Internet.
 Know how to overcome poor system
performance. Ex: Matlab Root Locus
Plots

SO2: To analyse the frequency response of linear control systems.

Representing the  Obtaining the system transient and  Lectures  Laws of logarithms
frequency response of a harmonic responses from sinusoidal inputs.  Tutorials  Decibel definition
system using Bode  Plotting the magnitude and phase  Assignments  Drawing graphs with
magnitude and phase responses using the harmonic response (s =  Practical. log scales.
plots. jw). (Tabular method)  Internet  Summing
asymptotes.
Matlab Bode Plots
Apply the information from  Reading off the gain and phase cross-over  Lectures  Interpreting graphs

5
 Specific outcomes with Assessment Criteria Learning and Essential embedded
Learning outcomes Teaching Activities knowledge
the above plots to improve frequencies.  Tutorials with log scales.
system performance.  Reading off the gain and phase margins.  Assignments  Use of Matlab.
 Assess the compensation required.  Practical.
 Design the P- compensator and obtain plots  Internet
for the compensated system either manually
or using Matlab.
SO3: To study the system’s open loop and closed loop response
Understanding the use of  Know the advantages and disadvantages of  Lectures  Complex number
polar plots for evaluating using polar charts and how to create them.  Tutorials magnitude and
the open loop behaviour of  Interpretation of system behaviour (e.g. its  Group discussions phase calculation
systems. stability or relative stability).  Assignments. methods.
 Read off system order and type from the polar  System stability
plot and know the significance thereof. criteria.

Understanding Nichols  Know the salient features of this type of chart.  Lectures  Complex number
charts and their use for  Plotting the open loop response and deducing  Tutorials(Hand outs) magnitude and
determining both open and a number of behavioural features from it.  Group discussions phase calculation
closed loop system  Using this response to determine the closed methods.
responses. loop response.  Interpreting graphs
 Interpretation of these responses and knowing with log scales.
what compensation is needed, if any.  Use of Matlab.

SO4: Using the above analytical techniques to design compensators

Establish the need for  Be able to design gain-, lead-, lag-, or lead-lag  Lectures  Interpreting graphs with
compensation and identify compensators.  Tutorials log scales.
which type is required.  Be able to design PID compensation.  Group discussions /Case  Use of Matlab.
 Obtain compensated system responses using any study
of the analytical techniques above and hence finalise  Internet.

6
 Specific outcomes with Assessment Criteria Learning and Essential embedded
Learning outcomes Teaching Activities knowledge
the compensator design.

SO5: Tuning PID controllers.

Understanding the properties of  Be able to set up the PID controller to provide only P or  Group discussions  Operation of the
proportional, integral and D or I control.  Practical. ICIP2PRO simulation
derivative controllers acting  Test the simulated system with a step input and note program.
individually. the important characteristics of each type.  Matlab Simulation Case
nge: Measuring chains, study
survey bands,
soft and steel tapes.
Range: Measuring chains,
survey bands,
soft and steel tapes.
Understanding the effect of  Set up the controller for either I or D control and then  Group discussions.  Operation of the
integral and derivative introduce noise to see the effect.  Practical. ICIP2PRO simulation
controllers on noise and system  Know how the filter characteristic (TD) will affect the program.
instability. results.  Properties of integration
 Set up the system with growing oscillations and then and differentiation.
introduce I or D control and note the effect.  Matlab Simulation Case
 Understand basic operating principles. Study

Understanding the use of P, I  Know how to use both the Ziegler-Nichols open loop  Practical.  Operation of the
and D in combination and how and closed loop methods of PID loop tuning. Be aware  Group discussions ICIP2PRO program.
to tune PID loops. of other methods too.

7
10. Critical Cross-field Outcomes (CCFO’s)

Critical Cross-field Outcomes SO

Identifying and solving problems in which responses display that SO1; SO2;
responsible decisions using critical and creative thinking have been SO3; SO4;
made SO5.
Working effectively with others as a member of a team, group, SO3; SO5.
organisation, community
Organising and managing oneself and one’s activities responsibly and SO1; SO2;
effectively SO3; SO4;
SO5.
Collecting, analysing, organising and critically evaluating information SO1; SO2;
SO3; SO4;
SO5.
Communicating effectively using visual, mathematical and/or SO1; SO2;
language skills in the modes of oral and/or written persuasion SO3; SO4;
SO5.
Using science and technology effectively and critically, showing SO5.
responsibility towards the environment and health of others
Demonstrating an understanding of the world as a set of related SO1; SO2;
systems by recognising that problem-solving contexts do not exist in SO3; SO4;
isolation SO5.
Contributing to the full personal development of each learner and the SO1; SO2;
social and economic development of the society at large, by making it SO3; SO4;
the underlying intention of any programme of learning to make an SO5.
individual aware of the importance of:

 reflecting on and exploring a variety of strategies to

learn more effectively;
 participating as responsible citizens in the life of local,
national and global communities;
 being culturally and aesthetically sensitive across a
range of social contexts;
 exploring education and career opportunities; and
 Developing entrepreneurial opportunities.

11. Assessment and DP Requirements

The course mark for this subject will be compiled from 2 tests, a practical
and assignment(s)/case study.

Test 1 - 30%
Test 2 - 30%
Practical - 20%
Assignment, case study etc – 20%

8
 A minimum of 50% in practicals is mandatory to obtain DP mark.
The final mark (FM) will be made up as follows from the course mark
(CM) and the exam mark (EM):

FM = 0,4 x CM + 0,6 x EM

A minimum of 40% in coursework is required for admission for Exam

12. Scheme of Work

WEEK WORK COVERED

1-2 Introductory Control Concepts &
Root locus techniques.
Root locus applications.
Assignment No.1 – Root Locus Plots
TEST 1.
3 – 5. Bode plots.
Bode plot applications.
Assignment No.2 – Bode Plots
ASSIGNMENT
PRACTICAL / CASE STUDY
6-8 Closed Loop Control, P, PI, PID controllers. Lead & Lag Controllers
9 - 11 Control Design, Bode Plots, Root Locus and Simulink Simulations

TEST 2
12 Assignment No.3 – Case Study Simulation and Design
Nichols chart plot, interpretation & design applications
13-14. Revision

13. Readings and Reference for Case Study.

o Lecture Notes
o Reference Books:

 Di Stefano et. al. – Feedback and Control Systems (Schaum’s

Outline Series), MacGraw Hill.

 W. Bolton – Control Engineering, Longmans.

 Ogata, Morden Control Systems and Design, 5th Edition

9
 o Internet resources:- This Learner guide will be placed on the
Technikon’s Intranet, and learners can access the websites below
by clicking on any of the links:
o http://www.engin.umich.edu/class/ctms/examples/motor/rlocus2.htm


Education:
http://www.mantec.ac.za/.

Professional Bodies:

www.ecsa.co.za/.

http://www.saiee.org.za/.

Case Studies:

To be discussed with the class, as it will depend on the sectors of industry

represented in the classroom.

o Reference:
http://www.engin.umich.edu/class/ctms/examples/motor/rlocus2.htm

14. Additional Resources

See Student Survival Guide for academic support, counselling and library
times and usage.

See Mangosuthu Technikon website: http://www.mantec.ac.za

15. Conduct and ethics

These will be negotiated and completed in the class. Statements will cover
the following issues:

o Attendance
o Use of the Library
o Confidentiality
o Assignments requirements
o Late assignment
o Punctuality
o Absenteeism from assessments
o Practical rules
o Class Rules

10
Mangosuthu University of Technology

DEPARTMENT OF ELECTRICAL ENGINEERING

SAFETY INSTRUCTIONS TO STUDENTS

PREVENTION IS BETTER THAN CURE

The primary motive for all safety regulations, procedures and rules is to prevent injuries and
accidents. Although every effort is made to ensure the safety of all in the Department, accidents
can happen. ACCIDENTS DON’T JUST HAPPEN, THEY ARE CAUSED, and THERE IS
ALWAYS A REASON WHY.
Generally, equipment, machines and materials are only as safe as the person who is using it.
Personal safety thus depends on a high level of individual safety-consciousness and an informed
approach to safety issues.

As from this semester (14 July 2014) the following safety instructions shall be observed by ALL
students of the Electrical Engineering Department:

 All students are to collect a copy of “Your Commitment to Health and Safety in the
Workplace” from Mr. S.Gumede. If one has not already been received.
 You are to sign page 3 and hand it to the academic/technician or laboratory assistant
responsible for the laboratory which will be kept for record purposes.
 On each entry to a laboratory a copy of “Your Commitment to Health and Safety in the
Workplace” shall be produced. Failure to produce your copy will result in your entry to the
laboratory being refused.
 DO NOT be tempted to produce a copy loaned from a colleague as if something were to
happen to you the records will be checked that you have signed for a copy.
 All students are required to obey any safety instruction given by the academic/technician or
laboratory assistant responsible for the laboratory.
 Your attention is drawn to the safety rules/notices attached to, or adjacent to, dangerous
equipment such as guillotine/bending brake/drill press/motors etc.
 There are also laboratory rules applicable to that laboratory placed on doors/walls, You are
required to make yourself familiar with these rules. If they are not clear ask for an explanation
from the academic/technician or laboratory assistant.

Prof. P.A.Owolawi

Acting HOD: Electrical Engineering

11