ECE 409: Introductory Feedback Control Laboratory

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ECE 409 - Introductory Feedback Control Laboratory

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ECE 409: Introductory Feedback Control Laboratory, Fall 2004 (Sethares), formerly Course Homepage of Sethares

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Catalog Description

409 Introductory Feedback Control Laboratory. (Crosslisted with ME) I; 4 cr. Concepts in modern feedback control applied to hardware-based design problems. This lab gives students a wide range of conceptual and hardware experience, rather than focusing on specific applications. Weekly exercises consist of theory, design, simulation, testing, and data analysis. P: ECE 332, or ECE 334, or ME 446, or ME 447 .

Course Prerequisite(s)

ECE 332
ECE 334
ME 446
ME 447

Prerequisite knowledge and/or skills

Newton's laws of motion
Fourier transforms
Laplace transforms
Elementary feedback calculations
Ideal operational amplifiers

Textbook(s) and/or other required material

J. D. Cobb, "ECE 409: Introductory Feedback Control Laboratory". Electronic copies available on the web. (See link above.) Paper copies available at the start of the semester.

Course objectives

1) Apply analog and digital least-squares identification methods to an electromechanical system.
2) Design and test an analog and a digital gain compensation feedback loop for a DC servomotor.
3) Design and test a lead-lag compensator for a power operational amplifier.
4) Construct an analog and a digital dynamic compensator to achieve pole-placement for an electromechanical system.
5) Design and test an analog observer to estimate velocity from position in a motion control experiment.
6) Design and test a variety of analog and digital compensators to balance an inverted pendulum apparatus.
7) Conduct design, simulation, and anlysis using Matlab and Simulink.

Topics covered

1) Analog Least-Squares Estimation: DC servomotor model, least-squares identification method, Matlab commands, experimental procedure and analysis.
2) Analog Gain Compensation: Root locus, second-order response, experimental procedure and analysis.
3) PID Control: Experimental procedure and analysis.
4) Lead-Lag Compensation: Operational amplifier model, phase margin and gain cutoff frequency, gain compensation, lead-lag compensation, experimental procedure and analysis.
5) Analog Algebraic Compensator Design: Pole-zero cancellation, internally stable design, minimum phase systems, cart model, experimental procedure and analysis.
6) Linear State Estimation: Observers, spring-mass model, experimental procedure and analysis.
7) The Separation Principle: Inverted pendulum model, linearization, limit cycles, experimental procedure and analysis.
8) Digital Least-Squares Identification: The z-transform, sampling signals and systems, discrete frequency response, least-squares identification, experimental procedure and analysis.
9) Digital Gain Compensation: Discrete-time stability and causality, frequency-domain analysis of sampled-data systems, sinusoidal response, time and frequency-response specifications, experimental procedure and analysis.
10) Digital Algebraic Compensator Design: Deadbeat control, sampling the spring-mass system, experimental procedure and analysis.
11) Digital Approximation of Analog Compensators: Hold-equivalence method, impulse-invariance method, discrete-timme separation principle, experimental procedure and analysis.
12) Nonlinear State Estimation: Nonlinear observers, digital implementation of nonlinear continuous-time compensators, quantization, experimental procedure and analysis.

Class/laboratory schedule

Two 50-minute lectures and one three-hour lab period per week.

Contribution of course to meeting the professional component

This course contributes primarily to the students' knowledge of engineering topics, and does provide design experience.

The following statement indicates which of the following considerations are included in this course: economic, environmental, ethical, political, societal, health and safety, manufacturability, sustainability.

manufacturability

Relationship of course to undergraduate degree program objectives and outcomes

This course serves students in a variety of engineering majors. The information below describes how the course contributes to the college's educational objectives.

knowledge in the basic techniques of mathematics and the physical sciences basic skill in methods of design and analysis across a broad range of electrical and computer engineering areas knowledge of measurement techniques and experimental procedures in core electrical and computer engineering applications advanced expertise in design, analysis, and fabrication techniques within a student-selected electrical and computer engineering concentration area the ability to make thoughtful, well-informed career choices

Assessment of student progress toward course objectives

weekly preliminary lab reports
weekly final lab reports
performance and success in the lab

Person(s) who prepared this description

Daniel Cobb

Copyright 2007 The Board of Regents of the University of Wisconsin System
Date last modified: 18-Jul-2007
Content by: ece@engr.wisc.edu
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