ME 190L.
Practical Control System Design: A Systematic Loopshaping Approach
[1 unit]
ONLINE RESOURCES:
CATALOG DESCRIPTION
After a review of basic loopshaping, we introduce
the loopshaping design methodology of
McFarlane and Glover, and learn how to use it
effectively. The remainder of the course studies
the mathematics underlying the new method
(one of the most prevalent advanced techniques
used in industry) justifying its validity.
COURSE PREREQUISITES
ME 132 or EECS 128 (EECS 20 may suffice) or
similar introductory experience regarding
feedback control systems. The student should
understand basic properties of feedback
systems, be comfortable with transfer
function and differential equation
descriptions of systems, and be familiar
with typical feedback objectives such
as disturbance rejection, command following,
noise insensitivity and closed loop stability.
TEXTBOOK(S) AND/OR OTHER
REQUIRED MATERIAL
Notes and slides in class, both based
on "A Loop Shaping Design Procedure Using
H8 Synthesis," IEEE Transactions on Automatic
Control, vol. 37, no. 6, pp.759-769, June 1992,
and Robust Controller Design Using Normalized
Coprime Factor Plant Descriptions, Springer-Verlag
Lecture Notes in Control and Information Sciences,
vol. 138, 1990, both authored by by D McFarlane and K. Glover.
COURSE OBJECTIVES
DESIRED COURSE OUTCOMES
TOPICS COVERED
1. Review of SISO loopshaping, how main design
objectives are captured the open-loop loopshape, Bode phase formula;
2. The McFarlane/Glover loopshaping methodology;
claims, examples, comparisons to other designs;
3. Limitations and conservation laws in feedback systems;
4. Small gain theorem;
5. Coprime factor plant description and coprime
factor robustness tests;
6. H8 design problem: statement, solution, available software;
7. The McFarlane/Glover loopshaping theorem
for single-input, single-output systems; statement and derivation.
CLASS/LABORATORY SCHEDULE
One hour of lecture per week.
CONTRIBUTION OF THE COURSE TO MEETING THE
PROFESSIONAL COMPONENT
The loopshaping technique taught in this course
is the most prevalent advanced technique
used in industry. Undergraduates who
complete this course will be well suited to design
single-input, single-output control laws for
a variety of processes, including aerospace,
electromechanical, hydraulic, pneumatic and
chemical manufacturing. Moreover, the use of
sophisticated numerical tools to enable advanced
design is prevalent in industry, and this class
reinforces this notion.
RELATIONSHIP OF THE COURSE TO
ABET PROGRAM OUTCOMES
The course addresses objective 1 in an
obvious manner. The course addresses
the life-long learning aspect of
objective 3, as the students will fully
learn a design technique that is not covered
in any undergraduate textbook (and not
properly covered in any graduate textbook
either). This will be (likely) the first
exposure to the IEEE Transactions on
Automatic Control, and they will learn
that the current literature is often dense
and challenging to read, but may offer
significant insight into the problems being addressed.
ASSESSMENT OF STUDENT PROGRESS TOWARD COURSE OBJECTIVES
· Weekly graded homework assignments: 70%
· 1 midterm quiz, 15%
· 1 final exam, 15%
PERSON(S) WHO PREPARED THIS DESCRIPTION:
Professor
Andrew Packard
