ME 746 Dynamics of Controlled Systems — UPDATED

3 graduate credits

Instructor: Professor Robert D. Lorenz
Phone: 608/262-5343
E-mail: lorenz@engr.wisc.edu

Course objective:
To provide physics-based principles for control system design. To form these principles using non-linear, multivariable control design methods that improve insight into meeting both command-driven and disturbance-driven system requirements. To extend these principles to include estimation methods suitable for control feedback.

Course description:
Multivariable control design for real-time command-driven, and disturbance-driven systems. Emphasis on application to multi-axis, precision motion control, including manipulation of process dynamics and power electronics current and voltage dynamics. System modeling using state variables having physical meaning. Estimation methodologies for accurate feedback. Parameter sensitivity analysis of Gopinath and other observer topologies. Disturbance estimation via observers. Practical model reference adaptive control design methodologies.

Prerequisite:
Course in classical control theory, linear algebra, computer programming for simulation, or consent of instructor.

Homework:
Design assignments or mini-projects for each major topic.

Exams:
Midterm and final.

Computer software:
Access to PC, Macintosh or work station, with student or professional MATLAB version 4.0 and word-processing software (MS Word required) and graphics software for importing into MS Word documents (i.e., PC or Macintosh Claris Draw). Visit this webpage for information about software availability: Tethered Software at Computer-aided Engineering. A student version of MATLAB is available for purchase. Contact the Office of Engineering Outreach for details.

Textbook:
None.

Course notes:
Posted to the course homepage.

Course homepage:
http://courses.engr.wisc.edu/ecow/get/me/746/lorenz/