|ECE 380: Analog Control Systems|
|ECE 484: Digital Control Applications|
|ECE 486: Robot Dynamics and Control|
|ECE 488: Multivariable Control Systems|
|ECE 499: Engineering Project|
Introduction to control systems. Advantages of closed-loop feedback systems. The role of the system mathematical model. Block diagrams and signal flow graphs. The basic control system design problem, stability in control systems. Frequency response analysis techniques. Root-locus analysis. Elementary lead-lag compensation.
Dynamic system modeling: linear, nonlinear, state-space, sample data systems, computer simulation, system identification. Discrete system stability and dynamic performance. Nonlinear system analysis, limit cycles. Digital control system design: emulation methods, z-domain, frequency domain, pole placement. Implementation of digital controllers. Laboratory projects in computer control of mechatronic and other systems.
Homogeneous transformations. Kinematics and inverse kinematics. Denavit-Hartenberg convention. Jacobians and velocity transformations. Dynamics. Path planning, nonlinear control. Compliance and force control.
Review of feedback control design fundamentals; SISO controller parameterizations; the fundamental effect of MIMO interaction; introduction to state-space models in continuous and discrete time; SISO techniques for MIMO design; optimal control; model-predictive control design; state estimation; decoupling, MIMO PID control design; applications in areas such as aerospace systems.
An engineering project requiring the student to demonstrate initiative and assume responsibility. The student will arrange for a faculty supervisor prior to registration. Students can propose their own topic. A project report is required at the end of the term. Please contact Prof. Kulic for more information.
The departments of Mechanical Engineering, Electrical and Computer Engineering, and Systems Design Engineering provide an Option in Mechatronics. This option is provided in response to a growing demand in the manufacturing industrial sector for engineers with interdisciplinary fundamentals and skills in mechanical systems, electrical systems and computer systems, and who are effective in integrated design of manufacturing products and processes incorporating these disciplines.