14:332:417 Control Systems Design

Course Catalog Description: 

14:332:417 Control Systems Design (3)
Design methods for controllers of linear time-invariant systems using Bode diagrams, root locus, pole placement, and observer techniques. Linear-quadratic optimal controllers and Kalman filters. Design techniques for controllers of nonlinear systems based on linearization, first and second method of Lyapunov, describing function method. Observers for nonlinear systems and the extended Kalman filter.

Pre-Requisite Courses: 


Co-Requisite Courses: 


Pre-Requisite by Topic: 

1. Linear Systems Theory
3. Control systems fundamentals

Textbook & Materials: 

Gajic, Z. and Lelic, M., Modern Control Systems Engineering, Prentice-Hall, 1996.


Friedland, B., Advanced Control System Design, Prentice Hall, 1996.

Overall Educational Objective: 

To understand the main control system design principles and to learn the main controller design techniques. To develop skills to design feedback controllers for continuous-time linear control systems. To learn to control nonlinear systems based on system linearization and design corresponding controllers using the linear control design concepts.

Course Learning Outcomes: 

A student who successfully fulfils the course requirements will have demonstrated:
- understanding of fundamental control system design specifications.
- understanding of basic principles of controller design.
- understanding and use of system observability and controllability concepts
- an ability to design classical controllers based on Bode plots and root locus teachniques
- an ability to design modern controllers based on the state space techniques
- an ability to design the Kalman filter and use it in diverse engineering disciplines.

How Course Outcomes are Assessed: 

  • Two in-class exams 40%
  • Four projects 40%
  • Final exam 20%

  • N = none S = Supportive H = highly related



    Proficiency assessed by

    (a) an ability to apply knowledge of mathematics, science, and engineering



    (b) an ability to design and conduct experiments and interpret data


    (c) an ability to design a system, component or process to meet desired needs within realistic constraints such as economic, environmental, social, political, ethical, health and safety, manufacturability, and sustainability



    (d) an ability to function as part of a multi-disciplinary team


    (e) an ability to identify, formulate, and solve ECE problems


    Projects, exams

    (f) an understanding of professional and ethical responsibility


    (g) an ability to communicate in written and oral form


    projects, exams

    (h) the broad education necessary to understand the impact of electrical and computer engineering solutions in a global, economic, environmental, and societal context


    (i) a recognition of the need for, and an ability to engage in life-long learning


    Discussions during lectures

    (j) a knowledge of contemporary issues


    (k) an ability to use the techniques, skills, and modern engineering tools necessary for electrical and computer engineering practice


    Exams, projects

    Basic disciplines in Electrical Engineering



    Depth in Electrical Engineering



    Basic disciplines in Computer Engineering


    MATLAB Simulations

    Depth in Computer Engineering


    Laboratory equipment and software tools



    Variety of instruction formats


    Lecture, office hour discussions

Topics Covered week by week: 

Week 1: Control System Design Specifications
Week 2: Classical Controller Design Based on Root Locus Technique
Week 3: PI, PD, PID, Phase-Lead and Phase-Lag Controllers
Week 4: Classical Controller Design Based on Bode Diagrams
Week 5: State Space Approach for Control System Design, Hourly Exam 1
Week 6: System Controllability and Observability
Week 7: System State Feedback Pole Placement Technique
Week 8: Full Order Observer Design and Reduced Order Observer Design
Week 9: Continuous- and Discrete-Time Linear-Quadratic Optimal Deterministic Regulator Problem
Week 10: Kalman Filter and Optimal Stochastic Regulator
Week 11: Discrete-Time Observer and Discrete-Time Kalman Filter, Hourly Exam 2
Week 12: Quantitative Behavior of Nonlinear Systems, Stability by the First and Second Methods of Lyapunov
Week 13: Linearization of Nonlinear Systems and Controlling Nonlinear Systems: Extended Separation Principle, Linearization about a Set Point, Extended Linearization, Feedback Linearization
Week 14: Describing Function Method and Observers for Nonlinear Systems
Weeks 15: Review and Final Examination

Computer Usage: 

MATLAB is used to demonstrate control systems concepts and methods and for projects

Design Experiences: 

The course is project oriented. Students learn techniques how to design classical and modern controllers. Four controller design projects using MATLAB are assigned

Independent Learning Experiences : 

Four projects are assigned and students are supposed to complete them individually. In addition, students independently study for exams, work on homework problems and discuss the problems with the course instructors during office hours.

Contribution to the Professional Component: 

(a) College-level Mathematics and Basic Sciences: 0.5 credit hours
(b) Engineering Topics (Science and/or Design): 2.5 credit hours
(c) General Education: 0.0 credit hours
Total credits: 3

Prepared by: 
Z. Gajic
May, 2011