** No:** EE 448

**Title:** CONTROL SYSTEMS SENSORS AND ACTUATORS

**Credits:** 3

** Coordinator:** Eric Klavins,
Assistant Professor of Electrical Engineering

**Goals:** To understand the function and operations of typical sensors and
actuators used in automatic feedback control systems. To gain proficiency
in instrumentation typically used in control systems development.

**Learning Objectives:**

At the end of this course, students will be able to:

*Use*electronic measurement instruments to test and characterize control system components*Design*component electronic circuits typical of feedback control system compensators*Assemble*component circuits for feedback control systems*Analyze*and model component circuits for feedback control systems*Close*feedback control loops with compensators implemented with operational amplifier circuits*Analyze*stability properties of closed loop systems

**Reference Texts:** Modern Control Systems, R.C. Dorf & R.H. Bishop, 8th ed,
Addison Wesley, 1998; *Measurement Systems, Applications and Design*, E.O.
Doebelin, 4th ed, McGraw-Hill, 1990

**Prerequisites by Topic:**

- Elementary circuit theory, junior level laboratory experience
- Elementary circuit theory, first course in linear control theory
- Junior level laboratory experience
- First course in linear control theory

**Topics:**

- Review of single input single output (SISO) linear control theory. Use of MATLAB and Simulink for control systems design and analysis.
- Implementation and testing of the performance of proportional, integral, derivative (PID) control laws on a typical servo system. Comparison of theoretical performance and stability predictions with experimental results.
- Use of instrumentation and procedures used in an electromechanical control systems laboratory to analyze and characterize control system components.
- Use of multimeters, oscilloscopes, and function generators.
- Assembly of analog circuits and measurement of their transfer functions.
- Modeling of DC motors and definition of experimental procedures for measurement of motor model parameters.
- Fitting of theoretical transfer functions to measured frequency response data (Bode amplitude and phase plots).
- Review of compensator design techniques for an electromechanical system, analysis of closed loop stability properties, and derivation of transfer functions for operational amplifier circuit schematics.
- Assembly and testing of operational amplifier circuits.
- Design of compensators for disturbance rejection in electromechanical systems. Closure of feedback loops with compensators implemented with operational amplifier circuits, measurement and analysis of open and closed loop performance of resulting system.
- Implementation of control algorithms in discrete time, programmed on a computer in an imperative programming language, and interfaced to hardware with a digital I/O card.

**Course Structure:** The class meets for up to two lectures a week. Actual
number and duration of lectures is adjusted based on student needs for
additional information as the course progresses. There are five laboratory
projects plus a preliminary design study. Students submit written reports
and present laboratory results for (selected) laboratories.

**Computer Resources:**
The class requires access to PCs or workstations supporting MATLAB,
Simulink, and the I/O toolbox. In addition, the course uses the
software that comes with the *Measurement Computing* I/O cards.

**Laboratory Resources:** Access to electronics assembly benches and equipment,
lab instrumentation as noted in "topics" above, experimental stations
incorporating various elements.
The EE department and the AA department both have control and robotic
systems laboratories that support the class.

**Grading:** 100% laboratory reports

**Outcome Coverage:**

(a) *An ability to apply knowledge of mathematics, science and
engineering.* Analysis of feedback control systems requires application
of ordinary differential equations, transform methods, and complex
analysis techniques. Engineering and science knowledge is required for
systems modeling, covering classical mechanics and electromagnetic
theory. (H)

(b) *Ability to design and conduct experiments, as well as to analyze and
interpret data.* Each of the experiments requires the students to execute
all these tasks. The design phase is limited to the compensators since
the systems to be controlled are already built. (H)

(d) *Ability to function on multi-disciplinary teams.* The class is
jointly listed with Aeronautics and Astronautics. Usually a few
mechanical engineering students take the class as well. All experiments
are done by teams of AA, EE and ME students. (L)

(e) *An ability to identify, formulate and solve engineering
problems.*
All experiments pose typical engineering problems that a control
systems engineer must solve. (M)

(g) *An ability to communicate effectively.* Lab reports are required to
be well written documents, not just code listings and data sets. (M)

(k) *An ablity to use the techniques, skills and modern engineering
tools necessary for enginering practice.* Students use MATLAB and an
associated control system toolbox to solve problems and to support the
experimental data analysis and presentation of results. (H)

**Prepared By:** Eric Klavins

**Last revised:** 4/25/07