The University of Southampton
Courses

# SESM3030 Control and Instrumentation

## Module Overview

This module covers the topics on classical and modern control analysis and design, focuses on feedback control approaches using state-space (differential equations). It discusses deeply the analysis and design for continuous-time linear time invariant (LTI) systems. As nonlinearities are often inevitable in applications, this module also introduces the analysis and design for nonlinear dynamical systems, mainly using the Lyapunov approach. The practical aspects of control design and its digital implementation are discussed in this module. This will cover the introduction to digital control and the fundamental of signal processing and instrumentation, which includes data acquisition, sensors and actuators. The course aims to give the student a general overview of instrumentation systems, with particular emphasis on the integration of the various components. The course will require a basic understanding of electronics, to include operational amplifiers and digital electronics. To attend this module, students are expected to have learned and understood the classical continuous-time control analysis and design that include dynamical modelling, transient responses, stability and steady state error analysis, at least in frequency domain and the basic PID controller design.

### Aims and Objectives

#### Module Aims

The aims of this module are to provide an introduction to modern theory and the practical aspects control systems: control systems are pervasive in industry and everyday life; they appear in increasing numbers in cars, as parts of household appliances, manned and unmanned vehicles of all sorts. Introduction is given into modelling, dynamics and control through a number application examples. You will study state-space analysis of dynamics, design of state feedback controllers and real-time state estimation of multi-input multi-output systems. The final part of the course will cover modelling, analysis, stability and control of nonlinear systems.

#### Learning Outcomes

##### Knowledge and Understanding

Having successfully completed this module, you will be able to demonstrate knowledge and understanding of:

• The mathematical modelling of dynamic, particularly electro-mechanical, systems.
• The fundamentals of classical control design methods, to identify, classify and analyse the performance of systems and components through the use of analytical and computer based techniques
• The principles of instrumentation and measurement systems, which demonstrates the ability to apply and integrate knowledge and understanding of other engineering disciplines to support the study of their own engineering discipline
##### Subject Specific Intellectual and Research Skills

Having successfully completed this module you will be able to:

• Analyse the stability of a system: 1. In frequency domain using Nyquist stability test and 2. In time domain using the eigen value analysis
• Perform the following controller designs: 1. lead-lag compensators, 2. state-feedback controllers and observers.
• Analyse the dynamic behaviour nonlinear systems, do the stability analysis and design based on Lyapunov approach
• Transform continuous-time dynamics into discrete-time dynamics for control purposes, and perform discrete-time control analysis/design based on their analogy to continuous-time methods.
##### Transferable and Generic Skills

Having successfully completed this module you will be able to:

• Judge the merits of using approximate state-space, frequency response and phase plane models to solve control problems
• Gain skills in applying various control analysis and design tools into real applications through taught control examples and in the coursework.
##### Subject Specific Practical Skills

Having successfully completed this module you will be able to:

• Construct suitable numerical mathematical models applicable to the design of control systems.
• Implement controller algorithms to a real control application on some benchmark systems

### Syllabus

Section I: Classical control design (5 lectures) The early part of the course recalls classical analysis and design methods for control systems. Lead and lag-compensator design are introduced; Nyquist plots are used and design for stability margin and speed of response is explained. Section II: State-space analysis and control design (10 lectures) Examples of time domain modelling in mechanical, electrical systems and in chemical process control; Use of state-space and transfer function models, modal analysis, stability, sampled models, controllability, observability, state-space canonical forms; Multi-variable control design problem, state feedback, state estimation, output feedback, dynamic observers, Ackermann's formula, separation principle, observer-based feedback control, pole-placement design and tracking; Sampling theory and z-transform; Stability analysis for discrete-time control systems; Section III: Nonlinear systems analysis and control design (6 lectures) Nonlinear system types and characteristics; Phase-plane analysis, local stability and limit cycles, existence tests for limit cycles; General concepts of stability, Lyapunov stability tests; Simple nonlinear controller design (e.g. backstepping). Section IV: Instrumentation (12 lectures) Introduction to instrumentation; Sensors and Transducers; Signal Conditioning; Analogue to Digital Conversion; System Design; Data and Signal Analysis; Data Acquisition.

### Learning and Teaching

#### Teaching and learning methods

The teaching methods employed in the delivery of this module include: Lectures, tutorial problems, question sheets, worked examples. The learning activities include: - Individual reading of background material and course texts, plus work on examples. - Assignments covering core techniques and principles. - MATLAB/SIMULINK based exercises. - Example sheets and worked solutions.

TypeHours
Lecture36
Preparation for scheduled sessions11
Total study time150

Helfrick and Cooper. Modern Electronic Instrumentation etc.

K. Ogata (2008,). Modern Control Engineering.

J.D. Turner. Macmillan. Instrumentation for Engineers.

C. L. Phillips and R. D. Harbor (2000). Feedback Control Systems.

Lecture materials accessible on Blackboard..

G. F. Franklin, J. D. Powel and A. Emami-Naeni (2008). Feedback Control of Dynamic Systems.

J. Slotine and W. Li. Applied Nonlinear Control.

D. Jordan and P. Smith (2007). Nonlinear Ordinary Differential Equations: An Introduction for Scientist and Engineers.

H. K. Khalil (2008). Nonlinear Systems.

P.Horowitz and W.Hill, (1980). The Art of Electronics.

N.S. Nise (2000). Control System Engineering.

M. J. Usher (1985). Sensors and Transducers.

### Assessment

Coursework

#### Summative

MethodPercentage contribution
Examination  (120 minutes) 100%

#### Referral

MethodPercentage contribution
Examination  (120 minutes) 100%

#### Repeat Information

Repeat type: Internal & External