EE312: Control Systems

Welcome to EE312: Control System Engineering
This course builds on the fundamentals of calculus and signals and systems. It is structured as a first
course in control systems engineering. The course provides sound knowledge of the devices and
components used in process control and instrumentation. It also provides an understanding of the
fundamental principles of process dynamics and feedback control. Topics to be covered include
introduction to control, mathematical modelling of control systems, transducers (sensors), actuators,
system performance and specifications, and design of controllers using classical control techniques. It
provides the foundation for further course on digital control systems.
Class News and Announcements
EE312 - Lab session Selection
Hello Students
Please select your desired lab session from the options below. This activity will close on
Monday 23rd February at 4pm.
EE312 - Tutorial Session Selection
Hello Students
Please select your desired tutorial session from the options below. This activity will close
on Tuesday 24th February at 3pm.
EE312 Lab Selection - for late comers
Hello Students
This is for those students who have not yet selected a lab session. Due to the extra enrolments
of late last week, extra places have been made in the lab sessions as follows:
Monday 4pm-7pm: 2 places
Tuesday 9am-12pm: 8 places
Please make your selection by 4pm 25th Feb for Monday session and by 9am 26th Feb for
Tuesday session.
EE312: Control System Engineering
Course: EE312: Control System Engineering http://elearn.usp.ac.fj/course/view.php?id=3991
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Course Coordinator
Project Group Selection (week 5 onwards) - Monday Session
Hello Students
From next week (week 5), you will be on PLCs for your mini-project. You are now required to
organise yourselves into five groups using the options below. Choose your groups before the
end of your week 5 lab session.
Note: This selection is for the Monday 2-5pm Lab session.
Course Coordinator
Project Group Selection (week 5 onwards) - Tuesday Session
Hello Students
organise yourselves into five groups using the options below. Choose your groups by the end
of your lab session in week 5.
Note: This selection is for the Tuesday 9-12 lab session
Course Coordinator
Project Group Selection (week 5 onwards) - Wednesday Session
Hello Students
organise yourselves into five groups using the options below. Choose your groups by the end
of your week 5 lab session.
Note: This selection is for the Wednesday 5-8pm lab session
Course Coordinator
tutorial attendance wk2-wk7 35KB
tutorial attendance wk2-wk14 13.5KB
lab attendance wk2-wk7 12.5KB
lab attendance wk2-wk14 10.8KB
Remedial Class Time
Hello Students
We need to decide on a time for the remedial class. The following two times have been
suggested based on staff and student availability. Please select one option and the option with
the highest number of votes will be selected. This activity will close Tuesday 24/03 1pm so that
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Course Overview
Week 1 - Course Overview & Introduction to Control
This section has the materials and activities for week 1. You will learn about the semester activities
via the course outline and also the first topic on introduction to control systems. At the end of this
topic you should be able to:
Identify and describe various types of control systems
Identify and describe the major components of a feedback control system
Draw functional block diagrams of control systems
Explain the process of solving a control problem (designing a control system)
the class can be scheduled soon. Please respond ASAP.
Course coordinator
Course Outline 269KB
IPENZ WA Graduate Attibutes 120.9KB
The things you need to be able to do to become a professional engineer.
Meet the Teaching Staff
Course Overview
Contains important information about the course and the activities for this semester. Please
read through them.
Reading Materials for Introduction to Control
Please read through the following two files. Summarise your thoughts on the following for
discussion in the Week 2 tutorial sessions:
what are control systems and why do we need them?
Describe manual, sequential, open loop, and closed loop systems?
What are the main components needed to build a closed loop (or feedback) control
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Week 2 - Mathematical Modelling
This section has the materials and activities for week 2. You will learn about mathematical modelling
for control systems. Mathematical modelling is an important part of the control system design
process. It describes the behaviour of a system/process and can be used for simulations. Time and
frequency domain representations, Laplace transforms and transfer functions of electromechanical
systems will be considered. At the end of this topic you should be able to:
Apply Laplace transforms to convert differential equation models to transfer functions
Apply inverse Laplace transforms to convert transfer function models to differential equations
Determine electrical equivalent circuits of mechanical, thermal, hydraulic, and pneumatic
dynamic systems
Compute transfer functions of dynamic systems
system?
Functional block diagrams - what are they and why are they useful?
The process or procedure for designing a control system
Video Materials for Introduction to Control
Please watch the following YouTube videos on introduction to control systems. Summarise your
thoughts on the following for discussion in the Week 2 tutorial sessions:
what are control systems and why do we need them?
Manual, sequential, open loop, and closed loop systems
What are the main components needed to build a closed loop (or feedback) control
system?
Week 2 Lecture Materials
Week 2 lecture materials on mathematical modelling
Additional Solved Examples
Inverse Laplace Transforms 142.5KB
Lab 1 - DC Servo Motor Analog Speed Control System
The objective of this lab is to introduce the student to feedback control (specifically
proportional (P) feedback) for velocity control in the Googol Technology GSMT 2000 series
DC Servo Trainer. Specifically the students will be able to:
Identify and explain the functional block diagram of a velocity control system.
Construct open-loop and closed-loop velocity control systems from functional block
diagrams.
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Week 3 - Mathematical Modelling (Cont.) & Block
Diagrams
In week 3, we continue with the previous weeks topic and continue with the lecture materials from
last week.
Compare open-loop and closed-loop control systems.
Video Materials for Mathematical Modelling
Here are some useful videos on control system mathematical modelling that you can watch in
your own time.
Week 2 Tutorial Inverse Laplace and Transfer Functions 36.3KB
Lab 2 - Introduction to PLCs
The objective of this lab is to introduce the student to Omron Programmable Logic Controllers
(PLCs) and to familiarise with some common PLC functions. Specifically the students will be
able to:
Identify the input and output ports of a PLC.
Connect input switches and output loads to a PLC.
Connect a PLC to a PC via serial port.
Use SYSWIN to write a basic logic ladder diagram program and download it to a PLC.
Explain the operation of a ladder diagram program.
Use the Address Symbol Editor to add symbol names and comments to PLC ladder
programs.
Use the KEEP, SET and RESET functions in a ladder program.
Use Timers and Counters in ladder programs.
This lab will run for two lab sessions and Part 1 will be assessed before the end of your lab
class in week 3.
Additional dynamic system modelling examples
Transfer functions of dynamic systems 128.8KB
Quarter car model 1MB
Quarter car model video
Week 3 & 4 Lecture Materials - Block Diagram Representation of Control Systems
Week 3 & 4 lecture materials on Block Diagram Representation of Control Systems
Week 3 Tutorial Transfer Functions of Dynamic Systems 91.5KB
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Week 4 - Block Diagrams & Transducers
In Week 4 we continue with block diagram representation of control systems and also begin the topic
of transducers.
Week 5 - Transducers
In week 5 we continue with Transducers and you will also start working on your mini-projects in the
labs.
Lab 2 - Introduction to PLCs
The objective of this lab is to introduce the student to Omron Programmable Logic Controllers
(PLCs) and to familiarise with some common PLC functions. Specifically the students will be
able to:
Identify the input and output ports of a PLC.
Connect input switches and output loads to a PLC.
Connect a PLC to a PC via serial port.
Use SYSWIN to write a basic logic ladder diagram program and download it to a PLC.
Explain the operation of a ladder diagram program.
Use the Address Symbol Editor to add symbol names and comments to PLC ladder
programs.
Use the KEEP, SET and RESET functions in a ladder program.
Use Timers and Counters in ladder programs.
This lab is continued from week 3 and Part 2 will be assessed before the end of your lab class
in week 4.
Week 3 & 4 Lecture Materials - Block Diagram Representation of Control Systems
Week 3 & 4 lecture materials on Block Diagram Representation of Control Systems
Video Materials for Block Diagram Representation of Control Systems
Here are some useful videos that will help you understand the concepts of block diagram
reduction, transfer function computation and characteristic equations. Please watch them in
your own time.
Week 4 & 5 Lecture Materials - Transducers
Week 4 & 5 lecture materials on Transducers
Video Materials for Transducers
Week 4 Tutorial Block Diagrams of Control Systems 293.2KB
Mini-Projects
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Week 6 - Actuators
In week 6 we will begin with actuators and in the labs you will continue working with your project.
Week 7 - System Performance & Specifications
In week 7 we will begin with system performance & specifications. We will look at basic control
system terminology and the response of 1st and 2nd order systems. In the labs you will continue
working with your project.
In week 8 we continue with system performance & specifications. We will look at the stability of
control systems, time domain specifications, and reduced order models. In the labs you will continue
working with your project. Test 1 will be discussed in the tutorial classes.
The mini-projects will be made available in the mini-projects section of the Moodle page.
Please scroll down to see details. You will select your groups but the projects will be assigned
randomly to each group. Please select your project groups from the welcome block at the top
of the moodle page.
Week 4 & 5 Lecture Materials - Transducers
Week 4 & 5 lecture materials on Transducers
Video Materials for Transducers
Week 5 Tutorial Transducers and Sensors 68.7KB
Week 6 Lecture Materials - Actuators
Week 6 lecture materials on actuators
Video Materials for Actuators
Week 6 Tutorial Actuators 75.1KB
Week 7 Lecture Materials - System Performance & Specifications
Week 7 lecture materials on system performance & specifications
Week 7 Video Materials
Week 8 Tutorial 131.1KB
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In week 9 we continue and finish with system performance & specifications. We will look at the
determining transfer functions from step responses and steady state error analysis. In the labs you will
continue working with your project.
Week 10 - Graphical Analysis & Design - Root Locus
In week 10 we start with graphical analysis and design techniques for control systems. In particular,
this week we will study Root Locus analysis and design. Root locus analysis and design can be done
manually for relatively simple systems and computer packages such as Matlab can be used for
complex systems.
In this labs, this week is mini-project assessment week.
Week 11 - Graphical Analysis & Design - Nyquist
Plots
In week 11 we continue with graphical analysis and design techniques for control systems. In
particular, this week we will study Nyquist plot analysis and design. Nyquist analysis and design can
be done manually for relatively simple systems and computer packages such as Matlab can be used
for complex systems.
In the labs, this week you will be given a Matlab exercise to work on. This is not an assessed lab.
Week 12 - Graphical Analysis & Design - Bode Plots
Week 10 Lecture Materials - Graphical Analysis & Design - Root Locus
Lab
Matlab Exercise - Root Locus 221.5KB
Week 11 Lecture Materials - Graphical Analysis & Design - Nyquist Plots
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In week 12 we continue with graphical analysis and design techniques for control systems. In
particular, this week we will study Bode plot analysis and design. Bode analysis and design can be
done manually for relatively simple systems and computer packages such as Matlab can be used for
complex systems.
In the labs, this week you will be designing PID controllers for physical systems. This lab will be
assessed.
Week 13 - Process Controllers & Compensators
In week 13 we will look at process controllers and compensators.
In the labs, this week you will continue designing PID controllers for physical systems from last
week. This lab will be assessed.
Topic 16
Lab 3 - PID Controllers
The objective of this lab is to study the tuning of a proportional plus integral plus derivative
(PID) controller. Specifically, the students will be able to:
Explain PID control action and controllers.
Employ a PID controller in a process control system (DC Servo Trainer).
Use the Ziegler-Nichols open loop tuning method or Ziegler-Nichols closed loop tuning
method (aka ultimate cycle method) to tune a process control system with a PID
controller.
Week 12 Lecture Materials - Graphical Analysis & Design - Bode Plots
Lab 3 - PID Controllers
The objective of this lab is to study the tuning of a proportional plus integral plus derivative
(PID) controller. Specifically, the students will be able to:
Explain PID control action and controllers.
Employ a PID controller in a process control system (DC Servo Trainer).
Use the Ziegler-Nichols open loop tuning method or Ziegler-Nichols closed loop tuning
method (aka ultimate cycle method) to tune a process control system with a PID
controller.
Week 13 Lecture Materials - Process Controllers & Compensators
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Mini-Project
Project planning initial plan 143.1KB
Project planning and teamwork 99.6KB
project organisation chart 65.9KB
Project Groups and Mentors 76.1KB
Projects
A PLC is a specialised form of a digital computer that is optimised for the implementation of
relay logic type of circuits. PLCs are widely used in automation (sequential control) systems.
In these mini-projects you will design and test an OMRON PLC based controllers for traffic
light systems, burglar alarms, water tank monitoring systems, and game systems. The
specifications of the system are given in Section A. Section B gives details of the mini-project
submission requirements and the assessment criteria.
The specific objectives of this project are to:
Design and test controllers for physical systems.1.
Function as an individual, and as a member or leader of a team.2.
Produce written reports and oral presentations of practical work.3.
Apply project management techniques to the planning and execution of future work.4.
Each group is required to submit a technical report (refer to http://www.monash.edu.au
/lls/llonline/writing/engineering/technical-report/index.xml for more information about
technical reports) and give a 20 minute presentation of their work.
Resources
Report Tips
Guidelines for Writing Technical Reports
Technical Writing Features & Conventions
Guidelines for Writing a Research Report
Presentation Tips 752.5KB
Example Presentation
This is an example presentation approximately 12 minutes long. A presentation is usually
derived from a paper or report that contains detailed information. The presentation focusses
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on the main points of the paper/report.
Projects, teamwork and ethics 205.5KB
A presentation on projects, teamwork and ethics. Source: www3.nd.edu/~atovar/ame30362f08
/Chapter14.ppt
Teamwork & Project Planning
Pages from "Teamwork and Project Management" by Karl A. Smith, University of Minnesota,
2002
Draft Project Workplans
Example Workplans & Task Lists
Initial Project Plan Upload
Initial Project Plan Upload
Upload your groups initial project plan. This should be in MS Word of PDF format. Recall that
the plan includes the Gantt Chart (scope of work tasks and schedule) & Responsibilities Table.
This is due on 23rd March (Monday lab group), 24th March (Tuesday lab group) and 25th
March (Wednesday lab group)
Final Report Upload
- Each group is also required to submit a sprial bound hardcopy of the final report before
the electronic copy submission deadline!
- Late reports will be penalised at a rate of 3.375 marks per day (24 hours)! Therefore, if
your report is two days (48 hours) late you will basically get zero!
Final Project Report - Monday
Submit the Microsoft Word version of your final report here. This is for Monday groups only!
Final Project Report - Tuesday
Submit the Microsoft Word version of your final report here. This is for Tuesday groups only!
Final Project Report - Wednesday
Submit the Microsoft Word version of your final report here. This is for Wednesday groups
only!
Final Presentation Upload
Final Presentation Upload - Monday
Submit the final version of your presentation here. This is for Monday groups only!
Final Presentation Upload - Tuesday
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MATLAB Help & Exercises
Submit the final version of your presentation here. This is for Tuesday groups only!
Final Presentation Upload - Wednesday
Submit the final version of your presentation here. This is for Wednesday groups only!
Miscellaneous Files Upload
-zip your syswin and other related files and upload them here
Miscellaneous File Upload - Monday
zip and submit your syswin and other design related files here. This is for Monday groups only!
Miscellaneous File Upload - Tuesday
zip and submit your syswin and other design related files here. This is for Tuesday groups only!
Miscellaneous File Upload - Wednesday
zip and submit your syswin and other design related files here. This is for Wednesday groups
only!
Week 10 Project Presentation Schedule
EE312 mini-project presentation schedule 2015 54.5KB
Resources (Help)
Exercises
Exercise 1: System Performance & Specifications (Week 7) 250.7KB
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Miscellaneous
Miscellaneous files useful for the course.
The purpose of this exercise is to give you a quick hands-on introduction to using SIMULINK
and MATLAB to simulate the response of a control system model. In particular at the end of
the exercise you should be able to:
Build a simple block diagram model of a control system using SIMULINK & MATLAB.
Simulate the block diagram model in SIMULINK & MATLAB and display the
simulation results in graphical form on the computer screen.
Analyze the results of the simulation using MATLABS LTI Viewer and also using your
knowledge of system performance and specifications.
Tables
Additional PLC Lab Resources
File: Intro_to_PLC_week_3_.pdf
- this file contains a brief description about what a PLC is and how it works.
File: CPM1A_OPERATION_MANUAL.pdf
- this file has details about the CPM1A PLC's hardware and how to connect things to it. The
following could be very useful:
- section 1-2-3 Host Link Communication (page 14)
- section 3-4-3 Power supply wiring (pgs 52-54)
- section 3-4-4 Input wiring (pgs 55-60)
-section 3-4-5 Output wiring (pgs 61-68)
File: Syswin34_User_Manual.pdf
- this file contains information about writing a PLC program on a PC (using SYSWIN) and
downloading it to the PC.
File: Programming_Manual.pdf
- contains useful information such as memory areas, ladder-diagram programming functions
and instruction set information for Omron CPM1 and CPM2 PLCs
Control System Modelling Papers
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Software
Topic 27
Topic 28
Topic 29
Topic 30
Installing Octave on your Android Smartphone or Tablet
Guidelines for installing Octave on your Android Smartphone or Tablet. It is advisable to have
1 GB RAM and quad core processor on your device. It can work slowly with dual core
processor.
Download and Install Octave for Windows
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EE312: Control Systems

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