School of Engineering

Department of Electrical, Electronic and Computer

Engineering

Control Systems EBB320

Lecturer: Prof IK Craig
Last revision: 2018-07-07
 Study Manual: Control Systems EBB 320, Second Semester 2018

TABLE OF CONTENTS

ORGANISATIONAL COMPONENT
1. GENERAL PREMISE AND EDUCATIONAL APPROACH 3

2. HEAD OF UNDERGRADUATE STUDIES 3

3. LECTURERS 4

4. STUDY MATERIALS AND PURCHASES 4

5. LEARNING ACTIVITIES 4
5.1 Contact time and learning hours 4
5.2 Assignments 5
5.3 Laboratory work 5

6. ASSESSMENT SCHEDULE 5

STUDY COMPONENT
1 MODULE OBJECTIVES, ARTICULATION AND LEARNING OUTCOMES 6
1.1 General objectives 6
1.2 Critical learning outcomes 6

2 MODULE STRUCTURE 8
2.1 Study themes 8
2.2 Contact time and learning hours 8

3 STUDY THEME DESCRIPTIONS 8

3.1 STUDY THEME 1: Introduction to control systems engineering 8
3.2 STUDY THEME 2: Modelling in the frequency domain 9
3.3 STUDY THEME 3: Modelling in the time domain 9
3.4 STUDY THEME 4: Time response 9
3.5 STUDY THEME 5: Reduction of multiple subsystems 10
3.6 STUDY THEME 6: Stability 10
3.7 STUDY THEME 7: Steady-state errors 11
3.8 STUDY THEME 8: Root locus techniques 11
3.9 STUDY THEME 9: Design via root locus 12
3.10 STUDY THEME 10: Frequency response techniques 12
3.11 STUDY THEME 11: Design via frequency response 12

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 Study Manual: Control Systems EBB 320, Second Semester 2018

ORGANISATIONAL COMPONENT

This guide serves as Part 2 of the study guide for this module and provides content that is specific to the
learning content of the module. Part 1 of the study guide is available from the EECE Undergraduate ClickUP
page and provides rules and policies that are generally applicable to all undergraduate modules presented by
the Department of Electrical, Electronic and Computer Engineering. If you cannot see or access the current-
year EECE Undergraduate ClickUP module, please arrange access by sending an email with your request to
Mrs Freislich (cornel.freislich@up.ac.za). The EECE Undergraduate ClickUP serves as the official platform for
general departmental resources and communication, e.g. test time tables, examination refusal lists, and
contact details.

1. GENERAL PREMISE AND EDUCATIONAL APPROACH

The objective of the course is to familiarize the student with standard control system engineering concepts.
The focus will be on the analysis and design of single-input-single-output (SISO) feedback systems. The basic
analysis and design tools will be studied using both a frequency- and time-domain approach.

It is important for students to develop a realistic view of what control engineering is all about. Exercises will
also be used to give students a practical feel for some of the issues discussed in class.

Students are expected to prepare the indicated material for the week in question. This preparation includes
doing the assigned exercises from the text on an individual basis. Experience has shown that students who
fall behind on their weekly preparation and do not do the homework, perform badly in the tests and the
exam. Selected homework problems may be graded and may contribute towards the semester mark. To
help you prepare for the semester tests, two class tests will be written, one before each semester test.

The practicals are important as they allow students the opportunity to become acquainted with concepts
described in class. This work is to be completed in assigned groups, and it is very important that each group
member has a thorough understanding of the work covered, as the exam and tests will focus thereon. The
practicals will be graded and will contribute to the semester mark as indicated.

2. HEAD OF UNDERGRADUATE STUDIES

The head of undergraduate studies is responsible for all aspects related to the day-to-day operation and
management of undergraduate matters.

2.1 Academic
Prof Tania Hanekom
Email: tania.hanekom@up.ac.za
For appointments, kindly visit the Communication page on the EECE Undergraduate ClickUP module.

2.2 Administrative
Ms Cornel Freislich
Tel: 012 420 3735
Email: cornel.freislich@up.ac.za
Office: Engineering 1, office 15-8, University of Pretoria Main Campus
Ms Gawa Pritchard
Tel: 012 420 2775
Email: gawa.pritchard@up.ac.za
Office: Engineering 3, office 7-19, University of Pretoria Main Campus

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 Study Manual: Control Systems EBB 320, Second Semester 2018

3. LECTURERS
Name Room No. Telephone No.
and Building and E-mail Address
Lecturers Prof. I.K.Craig Eng 1, 14-21 012 420 2172
ian.craig@up.ac.za
Teaching Assistants Mr. Duayne Strydom Eng 2, 1-8 DuayneStrydom@tuks.co.za
Mr. Luke Rokebrand Eng 2, 1-8 lukerokebrand@icloud.com
Secretary Mrs. Marcia Ndala Eng 1, 14-8 012 420 6470
marcia.ndala@up.ac.za

4. STUDY MATERIALS AND PURCHASES

Prescribed text book: Norman S. Nise, Control Systems Engineering, 7th Ed., 2015, John Wiley & Sons.
This book will be used extensively and it is compulsory that each student obtains a copy. It should be used in
conjunction with the accompanying electronic resources. Additional references include:
Albertos, P. and Mareels, I., Feedback and control for everyone, 2009, Springer.
Dorf, R.C. and Bishop, R.H., Modern Control Systems, 11th Ed., 2008, Prentice Hall.
Goodwin, G.C., Graebe, S.F., Salgado, M.E., Control System Design, 2001, Prentice Hall.
Kuo, B.J., Golnaraghi, F., Automatic Control Systems, 8th Ed., 2003, John Wiley & Sons.
Nagrath, I.J. and Gopal, M., Control System Engineering, 2nd Ed., 1990, John Wiley & Sons.
Reid, J.G., Linear Systems Fundamentals, 1983, McGraw Hill.


5. LEARNING ACTIVITIES

5.1 Contact time and learning hours

Number of lectures per week: 4 (one lecture per week will be used to discuss assignments)
Laboratory work: Three experiments of three hours each.

More detail is given in the table below:

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 Study Manual: Control Systems EBB 320, Second Semester 2018

5.2 Assignments
Assignments will consist of exercises from the prescribed text and will be discussed in class. All assignments
must be handed in by the due date, but only selected assignments and assignment problems may be marked
and incorporated in the semester mark. No late submissions will be accepted.

5.3 Laboratory work
General: Information on the practicals will appear on the module website after the commencement of the
semester.

Laboratory groups and sessions: Students will be allocated to groups and their group allocation will be given
on the module web site. The onus is on each student to find out his/her particular group allocation. Each
student must perform a total of three experiments. A timetable that must be consulted is posted on the
module website. Just one report, written in English, has to be handed in per group. These reports must
adhere to departmental guidelines for group reports.

Rules and requirements: An additional requirement for a pass in this module is a subminimum of 50% for the
laboratory work and attendance of all scheduled laboratory sessions. The laboratory mark is compiled from
the laboratory report plus the laboratory demonstration. Furthermore, the laboratory mark accounts for
10% of the semester mark.


6. ASSESSMENT SCHEDULE

(I – individual; G – Group)

Semester tests. Two tests of 90 minutes each will be written during the scheduled test weeks of the School
of Engineering. Dates, times and venues will be announced as soon as the timetables become available.

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 Study Manual: Control Systems EBB 320, Second Semester 2018

STUDY COMPONENT

1 MODULE OBJECTIVES, ARTICULATION AND LEARNING OUTCOMES

1.1 General objectives

The purpose of this module is to familiarize the student with control system design concepts. The field of
automatic control provides the tools that are used to design systems that can automatically maintain
performance by adjusting to changes in the environment. The use of control systems in modern society has
become so widespread that we simply cannot perform effectively without them. Control systems are used in
the production of almost anything you can think of e.g. electricity, fuel, motor vehicles; in transportations
systems such as airplanes and motor vehicles; in disk drives and mobile phones; and in in communication
networks.

Control systems as an enabling technology therefore has a huge impact on modern society, and it is
especially important for engineering students to have a firm grasp of control system design concepts. In the
study of this module, skills are developed which will enable the learner to:
• understand the fundamental concept of feedback, and its use in control systems design;
• analyse single-input-single-output (SISO) feedback control systems;
• synthesize SISO controllers;
• understand the fundamental limitations in SISO control systems;

1.2 Critical learning outcomes

The programs presented by the Department of Electrical, Electronic and Computer Engineering have been
designed to meet the eleven ECSA outcomes that qualify the competencies required by professional
engineers. While most modules contain at least a small component of a number of ECSA outcomes, only the
main outcomes that are addressed in a module are indicated for the specific module.

This module is presented at the developmental level for outcomes 1 and 2. Refer to the general study guide
(Part 1) for a complete overview of the association of ECSA outcomes with the modules in each degree
program. The following ECSA developmental-level outcomes are addressed in the module, i.e. at the
conclusion of this module the student will be able to:

Developmental level outcome 1: Problem solving

Learning outcome: Demonstrate competence to identify, assess, formulate and solve convergent and
divergent engineering problems creatively and innovatively.
Associated Assessment Criteria
The candidate applies in a number of varied instances, a systematic problem solving method
including:
1. Analyses and defines the problem, identifies the criteria for an acceptable solution;
2. Identifies necessary information and applicable engineering and other knowledge and skills;
3. Generates and formulates possible approaches for the solution of problems;
4. Models and analyses possible solution(s);
5. Evaluates possible solutions and selects best solution;
6. Formulates and presents the solution in an appropriate form.

The competency of the candidate to successfully solve problems according to the criteria above is assessed
using
• practical assignments where application of theory is extended to practical control problem solving,
• tutorial assignments (approximately ten) where students tackle typical control problems,

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 Study Manual: Control Systems EBB 320, Second Semester 2018

• two semester tests covering the relevant material,

• an examination of the material presented in the course where specific problems have to be
addressed

Developmental level outcome 2: Application of scientific and engineering knowledge
Learning outcome: Demonstrate competence to apply knowledge of mathematics, basic science and
engineering sciences from first principles to solve engineering problems.
Associated Assessment Criteria
The candidate:
1. Brings mathematical, numerical analysis and statistical knowledge and methods to bear on
engineering problems by using an appropriate mix of:
a) Formal analysis and modelling of engineering components, systems or processes;
b) Communicating concepts, ideas and theories with the aid of mathematics;
c) Reasoning about and conceptualising engineering components, systems or processes
using mathematical concepts;
2. Uses physical laws and knowledge of the physical world as a foundation for the engineering
sciences and the solution of engineering problems by an appropriate mix of:
a) Formal analysis and modelling of engineering components, systems or processes using
principles and knowledge of the basic sciences;
b) Reasoning about and conceptualising engineering problems, components, systems or
processes using principles of the basic sciences.
3. Uses the techniques, principles and laws of engineering science at a fundamental level and in at
least one specialist area to:
a) Work across engineering disciplinary boundaries through cross disciplinary literacy and
shared fundamental knowledge.

The competency of the candidate to successfully apply scientific and engineering knowledge according to the
criteria above is assessed using
• tutorial assignments (approximately ten) where students tackle typical control problems,
• two semester tests covering the relevant material,
• an examination of the material presented in the course where specific problems have to be
addressed
• practical assignments where application of theory is extended to practical control problem solving,
• an examination of the material presented in the course where specific problems have to be
addressed

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 Study Manual: Control Systems EBB 320, Second Semester 2018

2. MODULE STRUCTURE

2.1 Study themes

Study themes Sources Methods
0. Introduction, rules and Study guide Lecture
expectations
1. Introduction to control systems Nise Chapter 1 Lectures, assignments,
engineering tutor class
2. Modelling in the frequency Nise Chapter 2 Lectures, assignments,
domain tutor class
3. Modelling in the time domain Nise Chapter 3 Lectures, assignments,
tutor class
4. Time response Nise Chapter 4 Lectures, assignments,
tutor class
5. Reduction of multiple Nise Chapter 5 Lectures, assignments,
subsystems tutor class
6. Stability Nise Chapter 6 Lectures, assignments,
tutor class
7. Steady-state errors Nise Chapter 7 Lectures, assignments,
tutor class
8. Root locus techniques Nise Chapter 8 Lectures, assignments,
tutor class
9. Design via root locus Nise Chapter 9 Lectures, assignments,
tutor class
10. Frequency response techniques Nise Chapter 10 Lectures, assignments,
tutor class
11. Design via frequency response Nise Chapter 11 Lectures, assignments,
tutor class
Practicals Practicals and reports

3. STUDY THEME DESCRIPTIONS

3.1 STUDY THEME 1: Introduction to control systems engineering

Learning outcomes
At the end of this study theme, the student will be able to describe qualitatively how a control system works
as well as how to define performance criteria that are the basis for control systems analysis and design.

Study units
Chapter 1 in Nise (2015).

Self-study activities
See the module web site for announcements regarding further self-study material.

Extra material
The module web site will provide more material if required as deemed necessary by the lecturer.

Assignments for assessment
Assignments will be given on the module web site.

Criteria of assessment
At the end of this study theme, a student must be able to perform tasks as outlined in the leaning outcomes.

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 Study Manual: Control Systems EBB 320, Second Semester 2018

3.2 STUDY THEME 2: Modelling in the frequency domain

Learning outcomes
At the end of this study theme, the student will be able to find a mathematical model in the form of a
transfer function for linear time-invariant electrical, mechanical and electromechanical systems. Students
will also be able to linearize a nonlinear system in order to find a transfer function.

Study units
Chapter 2 in Nise (2015) and see Linear Systems ELI 220 or equivalent text book (e.g. Carlson).

Self-study activities
Review Laplace transforms and theorems in Nise (2015) and e.g. Carlson. See the module web site for
announcements regarding further self-study material.

Extra material
The module web site will provide more material if required as deemed necessary by the lecturer.

Assignments for assessment
Assignments will be given on the module web site.

Criteria of assessment
At the end of this study theme, a student must be able to perform tasks as outlined in the leaning outcomes.


3.3 STUDY THEME 3: Modelling in the time domain
Learning outcomes
At the end of this study theme, the student will be able to find a mathematical model in the form of a state-
space representation, for a linear, time-invariant system. Students will also be able to convert between
transfer function and state-space models and be able to linearize state-space models.

Study units
Chapter 3 in Nise (2015).

Self-study activities
See the module web site for announcements regarding further self-study material.

Extra material
The module web site will provide more material if required as deemed necessary by the lecturer.

Assignments for assessment
Assignments will be given on the module web site.

Criteria of assessment
At the end of this study theme, a student must be able to perform tasks as outlined in the leaning outcomes.


3.4 STUDY THEME 4: Time response
Learning outcomes
At the end of this study theme, the student will be able to find the time response from a transfer function; be
able to use poles and zeros to determine the response of a control system; describe quantitatively the
transient response of first- and second-order systems; approximate higher order systems as first or second
order; to view the effects of nonlinearities on the system time response; and to find the time response from
a state-space representation.

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 Study Manual: Control Systems EBB 320, Second Semester 2018

Study units
Chapter 4 in Nise (2015).

Self-study activities
See the module web site for announcements regarding further self-study material.

Extra material
The module web site will provide more material if required as deemed necessary by the lecturer.

Assignments for assessment
Assignments will be given on the module web site.

Criteria of assessment
At the end of this study theme, a student must be able to perform tasks as outlined in the leaning outcomes.


3.5 STUDY THEME 5: Reduction of multiple subsystems
Learning outcomes
At the end of this study theme, the student will be able to reduce a block diagram of multiple subsystems to
a single block representing the transfer function from input to output; analyze and design transient response
for a system consisting of multiple subsystems; represent in state space a system consisting of multiple
subsystems; convert between alternate representations of a system in state space.

Study units
Chapter 5 in Nise (2015).

Self-study activities
See the module web site for announcements regarding further self-study material.

Extra material
The module web site will provide more material if required as deemed necessary by the lecturer.

Assignments for assessment
Assignments will be given on the module web site.

Criteria of assessment
At the end of this study theme, a student must be able to perform tasks as outlined in the leaning outcomes.


3.6 STUDY THEME 6: Stability
Learning outcomes
At the end of this study theme, the student will be able to determine the stability of a system represented as
a transfer function; determine the stability of a system represented in state space; determine system
parameters to yield stability.

Study units
Chapter 6 in Nise (2015).

Self-study activities
See the module web site for announcements regarding further self-study material.

Extra material
The module web site will provide more material if required as deemed necessary by the lecturer.

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 Study Manual: Control Systems EBB 320, Second Semester 2018

Assignments for assessment

Assignments will be given on the module web site.

Criteria of assessment
At the end of this study theme, a student must be able to perform tasks as outlined in the leaning outcomes.


3.7 STUDY THEME 7: Steady-state errors
Learning outcomes
At the end of this study theme, the student will be able to find the steady-state error for a feedback system;
specify a system’s steady-state error for disturbance inputs; design system parameters to meet steady-state
error performance specifications; find the steady-state error for systems represented in state space.

Study units
Chapter 7 in Nise (2015).

Self-study activities
See the module web site for announcements regarding further self-study material.

Extra material
The module web site will provide more material if required as deemed necessary by the lecturer.

Assignments for assessment
Assignments will be given on the module web site.

Criteria of assessment
At the end of this study theme, a student must be able to perform tasks as outlined in the leaning outcomes.


3.8 STUDY THEME 8: Root locus techniques
Learning outcomes
At the end of this study theme, the student will be able to define a root locus; sketch a root locus; use the
root locus to find the poles of a closed-loop system; use the root locus to describe qualitatively the changes
in transient response and stability of a system as a system parameter is varied; use the root locus to design a
parameter value to meet a transient response specification for systems of order 2 or higher.

Study units
Chapter 8 in Nise (2015).

Self-study activities
See the module web site for announcements regarding further self-study material.

Extra material
The module web site will provide more material if required as deemed necessary by the lecturer.

Assignments for assessment
Assignments will be given on the module web site.

Criteria of assessment
At the end of this study theme, a student must be able to perform tasks as outlined in the leaning outcomes.

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 Study Manual: Control Systems EBB 320, Second Semester 2018

3.9 STUDY THEME 9: Design via root locus

Learning outcomes
At the end of this study theme, the student will be able to use the root locus to design cascade and feedback
compensators to improve the steady-state error and/or transient response; realize the designed
compensators physically.

Study units
Chapter 9 in Nise (2015).

Self-study activities
See the module web site for announcements regarding further self-study material.

Extra material
The module web site will provide more material if required as deemed necessary by the lecturer.

Assignments for assessment
Assignments will be given on the module web site.

Criteria of assessment
At the end of this study theme, a student must be able to perform tasks as outlined in the leaning outcomes.

3.10 STUDY THEME 10: Frequency response techniques

Learning outcomes
At the end of this study theme, the student will be able to define a frequency response in terms of Bode and
Nyquist plots; plot a frequency response; use the frequency response to analyze stability; use the frequency
response to analyze a system’s transient response and steady-state error response; use the frequency
response to design the gain to meet stability specifications.

Study units
Chapters 10 in Nise (2015).

Self-study activities
See the module web site for announcements regarding further self-study material.

Extra material
The module web site will provide more material if required as deemed necessary by the lecturer.

Assignments for assessment
Assignments will be given on the module web site.

Criteria of assessment
At the end of this study theme, a student must be able to perform tasks as outlined in the leaning outcomes.


3.11 STUDY THEME 11: Design via frequency response
Learning outcomes
At the end of this study theme, the student will be able to use frequency response techniques to design
cascade and feedback compensators to improve the steady-state error and/or transient response.

Study units
Chapter 11 in Nise (2015).

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 Study Manual: Control Systems EBB 320, Second Semester 2018

Self-study activities
See the module web site for announcements regarding further self-study material.

Extra material
The module web site will provide more material if required as deemed necessary by the lecturer.

Assignments for assessment
Assignments will be given on the module web site.

Criteria of assessment
At the end of this study theme, a student must be able to perform tasks as outlined in the leaning outcomes.

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