1.

Scheme of learning and syllabi of core courses and electives (of

minor areas) of Vth Semester (ICE) Main Campus

The electives in V semester have been grouped into three minor areas. These
are
A. Robotics and Artificial Intelligence
B. Biomedical Instrumentation
C. Intelligent Control

Scheme of Vth Semester ICE (Main Campus)

DEPARTMENT OF Instrumentation & Control Engineering
B.Tech. SEMESTER V
PRE-REQUISITES Equivalent
Course Credit Offerin
Type Course L T P Courses
No. s g Dept. Course No Course Name

ICICC14 CC Modern Control Theory 3 0 2 4 ICE ICICC11 Control Systems

ICICC15 CC Process Dynamics and 3 0 2 4 ICE

ICICC11 Control Systems
Control
ICECC1 Communication and ICE
CC 3 0 2 4
6 Optical Instrumentation
ICE FCMT00
ICICC17 CC Robotics 3 0 2 4 Mathematics
7
1* EG/ Elective(s) 2* 3* -
ED/E
O
1*: The LTP allocation, Evaluation Scheme and Pre-requisites for Electives are given in Table below. The course code will depend
upon the elective(s) chosen by the student.
2*: The actual weekly load will depend upon the elective(s) chosen by the student.
3*: A student may register for courses leading to a minimum of 16 credits and a maximum of 28 credits. Normally, a student registers
for courses leading to 24 credits.

Table of Minors of Department of ICE

Minor 1 (Robotics and Artificial Minor 2 (Biomedical Minor 3 (Intelligent Control)
Intelligence) Instrumentation)
Course Course Name Pre- Course Course Name Pre- Course Course Name Pre-
No. Requisite No. Requisite No. Requisite

Data Acquisition and

Sensors Signal
Hardware Interfaces for Nonlinear Systems Control
ICICE01 Smart Sensors and ICICE03 and ICICE06
Bio-Signals and Control Systems
Transducers Systems
Measurement

Industrial Control Control Biomedical Discrete Time

ICICE02 ICICE04 NIL ICICE07 NIL
Systems Systems Instrumentation Systems

Large Scale Control

ICICE05 Biomechanics NIL ICICE08
Systems Systems
DEPARTMENT OF Instrumentation & Control Engineering
B.Tech. SEMESTER V (Discipline Centric Elective Courses)
PRE-REQUISITES Equivalent
Offering
Type Course L T P Credits Course Courses
Dept. Course Name
No
Sensors and
ED Smart Sensors 3 1 0 4 ICE ICICC13
Transducers
Control
ED Industrial Control Systems 3 1 0 4 ICE ICICC11
Systems
Data Acquisition and Hardware
Signal and
ED Interfaces for Bio-Signals 3 0 2 4 ICE ICICC03
Systems
Measurement
ED Biomedical Instrumentation 3 0 2 4 ICE NIL
ED Biomechanics 3 1 0 4 ICE NIL
Control
ED Nonlinear Systems and Control 3 1 0 4 ICE ICICC11
Systems
ED Discrete Time Systems 3 0 2 4 ICE NIL
Control
ED Large Scale Systems 3 1 0 4 ICE ICICC11
Systems

Syllabus of Core Courses

Course No. Title of the Course Credits Course Structure Pre- Requisite

ICICC14 Modern Control Theory 4 L-T-P: 3-0-2 Control Systems

Course Objectives:
1. To understand the state variables and its application in modelling.
2. The understanding of nonlinear systems and their stability.
3. To study the fundamental concept of Calculus of Variation.
4. Investigate the variational approach to optimal control problems.
5. Analyze the implications of Pontryagin’s minimum principle and state inequality constraints.

COURSE CONTENT: Lecture

(in Hrs.)

Unit-I State Space representation of systems, solution of state equations, controllability and
observability, design of control system via state space, linear state feedback
controller and observer design.

Unit II Introduction to Non-Linear Control, Types of non-linearities, Describing function

approach for stability of non-linear systems. Stability analysis using Lyapunov
methods, local and global stability for linear and non-linear systems. Krasovski
Method of stability analysis.

Unit III Optimization and Optimal Control: Calculus of variations – Fundamental concepts,
Functionals, The Variation of a Functional, Fundamental theorem of calculus of
variations, Functionals of a single function, The simplest variational problem: The
Fixed and Free End-Point problem, Euler equation, natural boundary condition,
transversality condition, Functionals involving several independent functions.
Constrained minimization functions and functionals.

Unit-IV Variational approach to optimal control problems, Necessary conditions for

optimal control, Linear Quadratic Regulator problems, Linear tracking problems,
Riccati equation for finite and infinite time process.

Unit-V Pontryagin’s minimum principle and state inequality constraints. Minimum time
problems – Minimum control – effort problems. Singular intervals in optimal
control problems.

BOOKS/REFERENCE:
1. Brogan W. L, “Modern Control Theory”, 3rd Edition, Prentice Hall Inc., New Jersey.
2. Raymond A.De Carlo,“Linear Systems,A state variable approach with numerical implementation”,
Prentice Hall Inc., New Jersey.
3. D.E Kirk , “An Introduction to Optimal Control Theory”.
4. M. Gopal, “State Variable Analysis and Design”, TMH Publication.
Course No. Title of the Course Credits Course Structure Pre-Requisite
ICICC15 Process Dynamics and Control 4 L-T-P: 3-0-2 Control systems
COURSE OUTCOME (CO):
Students will be able to:
1. Understand the design aspects of process control system
2. Model the dynamic, static behavior of Chemical Processes and apply linearization to the models.
3. To study the basic control actions and their tuning.
4. Design the advanced controllers for different processes.
5. To study the final control elements commonly used in industrial processes.
COURSE CONTENT Lecture
(in Hrs.)
UNIT I Introduction: Historical perspective, Incentives of process control, Synthesis of 7
control system. Classification and definition of process variables. Need and
applications of mathematical modeling, Lumped and distributed parameters
systems, Modeling of STH, CSTR, and tubular heat exchanger, linearization of
nonlinear process, interacting and non-interacting type of systems, dead time
elements.
UNIT II Introduction to feedback Control, Dynamic Behaviour of feedback Controlled 5
processes, stability analysis of feedback systems, Design of Feedback Controllers,
Frequency Response Analysis of Linear Processes, Design of feedback Control
Systems using Frequency Response Techniques.
UNIT III Introduction to Proportional (P), Integral (I), Derivative (D) controllers, PI & PID 10
controllers. Detailed comparison of PID controller algorithms. Derivative action on
process output vs. error. Problems with proportional “kick” and reset “wind-up”.
Tuning of PID controller.
UNIT IV Analysis and Design of Advanced Control Systems: Feedback Control of systems 7
with large dead time or Inverse Response, Cascade Control, Selective Control
Systems, Split- range Control, Feedforward Control, Ratio Control, Inferential
Control Systems. Introduction to adaptive control system.
UNIT V Final Control Element: Signal Conversion (I/P or P/I converters), Solenoid, E-P 7
converters, Hydraulic and Pneumatic actuators, control valves-Types, Functions,
Quick opening, Linear and equal percentage valve, Ball valves, Butterfly valves,
Globe valves, Pinch valves, Valve application and selection pneumatic control
valves, valve petitioners and design of pneumatic control valve.
SUGGESTED READINGS:
1. Process Dynamics and Control. E. Seborg, T. F. Edgar, and D. A. Mellichamp. 3rd ed., Wiley, 2011.
2. Process control instrumentation technology. Curtis D. Johnson PHI.
3. Computer based industrial control: Krishnakant PHI.
Course No. Title of the Course Credits Course Structure Pre- Requisite

ICECC16 Communication and Optical 4 L-T-P: 3-0-2

Instrumentation

COURSE OUTCOMES (CO)

By the end of the course students will be able to:
1. Understand and remember different modulation and demodulation schemes for analog and digital
communications.
2. Illustrate the basic knowledge of probability theory and understand the effect of noise in communication
systems.
3. To design, implement and compare various modulation and demodulation schemes.
4. To understand about different components of optical networks.
5. To understand the working of Optical sensors.

Topics Lectures
(in Hrs)

UNIT-1 Introduction to communication system, Communication Channels, Review of Fourier

transform and its properties, Need for modulation. Time domain and frequency
domain description - AM, DSBSC, single tone modulation, power relations in AM
waves, Generation and Demodulation of AM waves, Generation and demodulation of 7
DSBSC Waves. Introduction to FM and PM, Frequency Modulation: Single tone
frequency modulation, Spectrum Analysis of Sinusoidal FM Wave, Narrow band FM,
Wide band FM, Generation and Demodulation of FM Waves,

UNIT-2 Probability Theory, Random Variables, Gaussian Distribution, Transformation of

Random Variables, PDF, CDF, Mean, Moments, Covariance Functions, Power
Spectral Density, Correlation Functions, Sampling theorem (Instantaneous Sampling, 8
Natural Sampling and Flat Top Sampling), TDM, Pulse Code Modulation, Differential
PCM systems (DPCM), Delta modulation.

UNIT-3 Model of Digital Communication Systems, Gram-Schmidt Orthogonalization, 8

Geometric interpretation of signals, matched filter receiver, correlation receiver,
Digital Modulation formats, Coherent binary modulation techniques (BPSK, BFSK),
Coherent quadrature modulation techniques (QPSK), Non-Coherent binary
modulation techniques (DPSK), BER for BASK, BFSK and BPSK.
 UNIT-4 Evolution of light wave systems, Block diagram of optical fiber communication
systems, structure of optical waveguide, light propagation in optical fibers, Optical
fibers; step and graded index fiber. Optical sources, principles of laser action, working 10
of Semiconductor laser and LEDs. Optical detectors; principles of APD and PIN
diodes, phototransistors and photo conductors. Functional modules of optical fiber
communication network, WDM system.

UNIT-5 Introduction to optical fiber sensors, intensity modulated sensor, displacement type
sensors, Interferometric based sensor, Photo-transistor based sensors, Fiber based 7
sensor. Optical time domain reflectometer (OTDR), optical spectrum analyzer (OSA),
UV-VIS, FTIR, Optical Fiber spectrophotometer, Raman spectroscopy.

TEXT BOOKS:
1. S. Haykin, Communication Systems, 4thEdn, John Wiley & Sons, Singapore, 2001.
2. B.P. Lathi, Modern Digital & Analog Communication Systems, 3rdEdition, Oxford University Press,
Chennai, 1998.
3. Leon W. Couch II. Digital and Analog Communication Systems, 6thEdition, Pearson Education Inc., New
Delhi, 2001.
4. Gerd Keiser, “Optical Fiber Communications”, McGraw Hill , 5th Edition, 2013.
5. J. Wilson & J. F. B. Hawkes, “Optoelectronics: An Introduction” PHI/ Pearson.

Course No. Title of the Course Credits Course Structure Pre-Requisite

ICICC17 Robotics 4 L-T-P: 3-0-2 Mathematics
COURSE OUTCOME (CO):
1. To understand working principle of Robotic Manipulators and its different configurations used in Industrial
environments.
2. To study the spatial movement of robot arm with the help of kinematic modeling.
3. To evaluate and analyze the forces/torques acting on the links and joints of a robotic arm.
4. To understand the technical limitations and challenges of the Robot, selecting the best path with avoidance
of obstacles etc.
5. How to select proper technological devices, size and configuration of arms and associated motors, sensors
and actuators for specific robotic applications.
COURSE CONTENT Lecture (in
Hrs.)
UNIT I Introduction: Basic Structure of Industrial Robots, Robot Anatomy, Classification 3
of Robots, Applications of Industrial Robots
UNIT II Robot Arm Kinematics: Direct Kinematics; Rotation Matrices, its Geometric 7
interpretation; Homogeneous Transformation Matrices and its geometric
interpretation; Links, Joints, and their parameters; D-H Representation; Kinematic
Equations; Different forms of Coordinates used in Robotics; Solving Inverse
Kinematic Problems.
UNIT III Robot Arm Dynamics: Introduction about dynamic modelling of Robotic Arms; 8
Lagrange-Euler Formulation and its computational complexities; Newton-Euler
 Formulation, Rotating and moving Coordinate Systems, Kinematics of the Links,
d’Alembert’s Principle and calculation of required torques/forces for each joint.
UNIT IV Robotic Manipulator Jacobian and Trajectories Planning: Velocity 9
propagation, Manipulator Jacobians for serial manipulators, Singularity analysis
and statics; General considerations on Trajectory Planning; Joint-interpolated
Trajectories; Cartesian Path Trajectories; Introduction to Mobile Robot.
UNIT V Robotic Sensors and Actuators: Uses of Hydraulic, pneumatic and electric drives; 9
Types of End Effectors, its selection criteria, classification, and design of grippers;
Sensors: Range Sensing, Proximity Sensing, Touch and Torque sensors; Vision
Sensors: Stages of Vision Sensing, devices used, Illumination Techniques;
Imaging Geometry, Camera modelling and calibration, Image Analysis
SUGGESTED READINGS:
1. Fu, Lee and Gonzalez., Robotics, control vision and intelligence-, McGraw Hill International, 2nd edition,
2007
2. John J. Craig, Introduction to Robotics-, Addison Wesley Publishing, 3 rd edition, 2010
3. Yoram Koren, Robotics for Engineers, McGraw Hill International, 1st edition, 1985
4. Klafter, Chmielewski and Negin, Robotic Engineering - An Integrated approach,, PHI, 1st edition, 2009.
5. Asfahl C.R, “Robots and Manufacturing Automation”, John Wiley & Sons, New York, 1992.
6. Mikell P, Weiss G.M, Nagel R.N and Odrey N.G, “Industrial Robotics”, McGraw Hill, New York, 1986.

Syllabus of Electives:

ICED: Minor Area 1: Robotics and Artificial Intelligence

Course No. Title of the Course Credit Course Structure Pre-Requisite
ICICE01 Smart Sensors 4 L-T-P: 3-1-0 Sensors and Transducers
Course Objectives (CO):
1. The basics and the latest technology of sensors used in robotics.
2. To study different sensing variables implemented for the application of robotics.
3. To understand the working principle and modelling of the sensors.
4. To study the application of intelligent sensors in robotics.
5. To study the multi-sensor controlled Robot Assembly.
COURSE CONTENT: Lecture
(in Hrs.)
UNIT I Basics of Smart sensors: An Introduction to sensors and transducers, History and 4
definitions, Smart Sensing, AI sensing, Need of sensors in Robotics, Introduction to
Mechanical-Electronic transitions in sensing, nature of sensors, overview of smart
sensing and control systems.
UNIT II Smart Sensors in Robotics: Position sensors - optical, non-optical, Velocity sensors, 7
Accelerometers, Proximity Sensors - Contact, non-contact, Range Sensing, touch and
Slip Sensors, Force and Torque Sensors
UNIT III Miscellaneous Sensors in Robotics: Different sensing variables - smell, Heat or 9
Temperature, Humidity, Light, Speech or Voice recognition Systems, Telepresence
and related technologies, 2D and 3D LiDAR.
UNIT IV Vision Sensors in Robotics: Introduction to vision sensor, Robot Control through 10
Vision sensors, Robot vision locating position, Robot guidance with vision system,
End effectors camera Sensor, Kinect Sensor.
UNIT V Multi-sensor Controlled Robot Assembly: Control Computer, Vision Sensor 10
modules, Software Structure, Vision Sensor software, Handling, Gripper and
Gripping methods, accuracy - A Case study.
SUGGESTED READINGS:
Text Book:
1. Paul W Chapman, "Smart Sensors", an Independent Learning Module Series
2. Richard D. Klafer, Thomas a. Chmielewski; Michael Negin, "Robotic Engineering - An integrated
approach", Prentice Hall of India Private Limited
Recommended References:
1. K.S. Fu, R.C. Gonzalez, C.S.G. Lee, "Robotics - Control Sensing, Vision and Intelligence", McGraw Hill
International Editions, 1987
2. Mikell P. Groover, Mitchell Weiss, Roger N Nagel, Nicholas G. Odrey, "Industrial Robotics - Technology,
Programming and Applications", McGraw Hill, International Editions, 1986
3. SabricSoloman, "Sensors and Control Systems in Manufacturing", McGraw Hill, International Editions,
1994
4. Julian W Gardner, Micro Sensor MEMS and Smart Devices, John Wiley & Sons, 2001
5. Bijay K. Ghosh, Ning Xi, T.J. Tarn, Control in Robotics and Automation Sensor - Based integration,
Academic Press, 1999
6. K.S. Fu, R.C. Gonzalez, C.S.G. Lee, Robotics Control, Sensing Vision and Intelligence, McGraw Hill Book
Company, 1987
7. Siegwart, R., Nourbakhsh, I.R. and Scaramuzza, D., 2011. Introduction to autonomous mobile robots. MIT
press.
8. Siciliano, B. and Khatib, O. eds., 2016. Springer handbook of robotics. Springer.
 Course No. Title of the Course Credit Course Structure Pre- Requisite

ICICE02 Industrial Control Systems 4 L-T-P: 3-1-0 Control Systems

Course Outcomes (CO):

To get a complete overview of strategies for process control
1. To know all the industrial processes and demonstrate their knowledge in designing the control loops for
these processes.
2. To understand the role of stability analysis in control system for the controlling and designing purpose.
3. To analyze the importance of industrial control systems
4. To investigate the Supervisory control and data acquisition (SCADA)
5. To study the programming of programmable logic control systems.
COURSE CONTENT: Lecture
(in Hrs.)

UNIT I Review of control systems with appropriate industrial system examples for open- 8
loop and closed-loop control systems. Case studies. Application of On-Off controls,
Proportional control, Integral control, Derivative control, Combinations of these
controls and finally the PID controller.

UNIT II Modeling of first order, second order, and higher order systems with examples from 6
industrial systems. Open-loop and closed-loop transient response of these systems
incorporating controllers and the effect of time delay. linearization of nonlinear
system, Interacting control systems and realization of decoupled control systems,
stability of industrial controls. An overview of various stability techniques.

UNIT III Introduction to advanced industrial control systems: Application of Ratio control, 10
split range control, cascade control, feed forward control, Selector control. Industrial
control using digital computers: Digital Computer Control Loops, from continuous
to discrete time systems, Design of Digital Feedback Controllers.

UNIT IV Supervisory control and data acquisition (SCADA) as applied to industrial systems 8
with examples. Direct digital control, Distributed Control System (DCS) and Modern
Industrial Communication protocols. Case studies such as Delhi Metro, Power plants
and Distribution of electricity etc.

UNIT V Programmable logic control systems: introduction to sequence or logic control and 8
programmable logic controllers, the software environment and programming of
PLCs, formal modeling of sequence control specifications. Programming,
programming of PLCs: Physical and programmed ladder diagram, the PLC hardware
environment.
SUGGESTED READINGS:
1. Chemical Process control: An introduction to theory and practice, George Stephanopoulos PHI
2. Process control instrumentation technology. Curtis d. Johnson PHI
3. Computer based industrial control: Krishnakant PHI
4. Instrument Engineers' Handbook, Fourth Edition, Volume Two- Process Control and Optimization by
Liptak

ICED: Minor Area 2: Biomedical Instrumentation

Course No. Title of the Course Credit Course Structure Pre-Requisite

ICICE03 Data Acquisition and Hardware Interfaces 4 L-T-P: 3-0-2 Signal and
for Bio-Signals Measurement systems

Course Outcomes (CO):

1. To introduce students with basics of computer interfacing and provide comprehensive understanding of
signal conditioning, signal conversion, data acquisition, signal processing, transmission and analysis.
2. To teach students the applicability of various A/D and D/A boards.
3. To acquaint students with various data acquisition methods and Interface Standards, data loggers and PC
buses.
4. To acquaint students with Virtual instrumentation for testing, control and designing of sensor systems using
LabView.
5. To introduce students with applications of soft computing techniques and future trends in biosignal
measurement systems.

COURSE CONTENT: Lecture

(in Hrs.)

UNIT I Biopotential Measurement: Biopotentials and bioelectric currents, Nature of Bio 8

Electricity: Bioelectric Currents, Nernst Potential, Diffusion Potential, Action
potential, Detection of Bio electric events, bio-electrode and electrode-skin
interface, Need for bioamplifiers and biosignal Conditioning.

UNIT II Design of Signal Conditioning Circuit for bio signals: Operational Amplifiers 10
Basic opamps parameters, Ideal and practical opamp, application of opamp in
biomedicine- Adder, subtractor, analog integrator, differentiator, preamplifiers,
Transimpedance circuits. Active filters and Medical Isolation Amplifiers, Aliasing
and sampling, Analog to Digital, Digital to Analog conversion.

UNIT III Interface Standards and PC buses: RS232, RS422, RS485, GPIB, USB, Firewire; 4
Backplane buses - PCI, PCI-Express, PXI, PXI – Express, VME, VXI; Ethernet –
TCP/IP protocols.
UNIT IV Virtual Instrumentation: Virtual instrument and traditional instrument, Hardware 10
and software for virtual instrumentation, Virtual instrumentation for test, control,
and design, Graphical system design, Graphical and textual programming.
Data Flow Programming Techniques: Graphical programming in data flow,
comparison with conventional programming, popular data flow and VI software
packages. Building a VI front panel and block diagram, sub VI, for and while loops,
case and sequence structure, formula nodes, local and global , string and file I/O,
array and clusters, charts and graphs, attributes nodes. Use of Measurement
Analysis Tools: Measurement of Max., Min., Peak-Peak voltage, Mathematical
tools, time period of a signal, power spectrum and logging Fourier transform,
Correlation methods, windowing and filtering

UNIT V Applications of soft computing techniques in bio-signals measurement systems. 8

Future trends in bio signal measurement systems.

SUGGESTED READINGS:
1. Ramon Pallas-Areny and John G Webster, Sensors and Signal Conditioning, 2012, 2nd ed., Wiley India
Pvt. Ltd.
2. John Park and Steve Mackay, Practical Data acquisition for Instrumentation and Control, 2011, 1st ed.,
Newness publishers, Oxford, UK.
3. Johnson G.and Jenningi R, ”Labview graphical programming “3rd ed. McGraw Hill (2002).
Reference Books
1. Maurizio Di Paolo Emilio, Data Acquisition systems- from fundamentals to Applied Design, 2013, 1st ed.,
Springer, New York.
2. Robert H King, Introduction to Data Acquisition with LabVIEW, 2012, 2nd ed., McGraw Hill, New York
Course No. Title of the Course Credit Course Structure Pre-Requisite

ICICE04 Biomedical Instrumentation 4 L-T-P: 3-0-2 NIL

COURSE OUTCOME (CO):

By the end of the course students will be able to:
1. Understand the human anatomy and physiology.
2. Measure the biomedical signals of the human body.
3. Diagnose the human body by referring to EEG, ECG, EMG signals.
4. Understand about the human respiratory system and the measurement techniques.
5. Gain knowledge about the electrical activity in the neuromuscular system and brain.

COURSE CONTENT: Lecture

(in Hrs.)

UNIT I Physiological Systems of the Body: Brief description of musculoskeletal, 4

endocrine, gastrointestinal, nervous, circulatory and respiratory systems; the body
as a control system; the nature of bioelectricity, action events of nerve; the origin
of biopotentials.

UNIT II Bio potential Electrodes: Signal acquisition; electrodes for biophysical sensing; 6
electrode-electrolyte interface; skin preparation, electrode-skin interface and
motion artifact; surface electrodes; microelectrodes; Internal electrodes; electrode
arrays; electrodes for electric stimulation of tissues; electrode polarization,
electrical interference problems in biopotential measurement; electrical safety.

UNIT III The Heart System and its Measurements: The heart; electro conduction system 10
of the heart; the ECG waveform; the standard lead system; the ECG preamplifier;
ECG machines; Cardiac monitors; Transient protection; common-mode and other
interference-reduction circuits. Physiological Pressure and other Cardiovascular
Measurements and Devices: Physiological pressure; blood pressure measurements;
sphygmomanometer; oscillometric and ultrasonic methods; practical problems in
pressure monitoring; cardiac output measurement; plethysmography; blood flow
measurements; phonocardiography; vector cardiography; defibrillators;
pacemakers; heart lung machines.

UNIT IV The Human Respiratory System and Its Measurement: Respiratory anatomy 10
(lungs, conducting airways, alveoli, pulmonary circulation, respiratory muscles);
lung volumes and gas exchange, mechanics of breathing; parameters of respiration;
regulation of respiration; unbalanced and diseased states; environmental threats to
the respiratory system; respiratory system measurements; respiratory transducers
and instruments; spirometry, body plethysmography.
UNIT V Measurement of Electrical activity in Neuromuscular System and Brain: 10
Neuron potential; muscle potential; electromyography (EMG);
electroencephalography (EEG); EEG electrodes and the 10-20 system; EEG
amplitude and frequency bands; the EEG system – simplified block diagram;
preamplifiers and EEG system specifications; EEG diagnostic uses and sleep
patterns; visual and auditory evoked potential recordings; EEG system artifacts.

SUGGESTED READINGS:
1. Carr Joseph J. and Brown John M., “Introduction to Biomedical Equipment Technology”, 4th Ed., New
Delhi: Pearson Education India
2. Webster John G (Ed.), “Medical Instrumentation, Application and Design”, 3rd ed., Singapore: John
Wiley & Sons (Asia) Pte. Ltd.
3. Webster J G (ed.), “Encyclopedia of Medical Devices and Instrumentation”, Vols. 1-4, New York: Wiley
4. Bronzino J D (ed.), “The Biomedical Engineering Handbook”, FL: CRC Press
5. Khandpur R S, “Handbook on Biomedical Instrumentation”, TMH, 13th reprint, New Delhi
Course No. Title of the Course Credit Course Structure Pre-Requisite

ICICE05 Biomechanics 4 L-T-P: 3-1-0 NIL

COURSE OUTCOMES (CO):

1. Introduce the basic concepts of mechanics in the human physiological system.
2. To understand various joint structures and its functions.
3. To understand the mechanism of walking and factors affecting it.
4. Introduction to basic structural analysis of medical implants.
5. Introduce the various biomedical applications of finite element modeling.

COURSE CONTENT: Lecture

(in Hrs.)

UNIT I Basic concepts in Biomechanics: Review of the principles of mechanics, 4

Kinetics, Kinematics Vector mechanics- Resultant forces of Coplanar & Non-
coplanar Equilibrium of coplanar forces

UNIT II Joint Structure and Functions: Outline objectives, joint design, joint 10
categories, joint functions, materials in human joints, general effects of disease
injury and immobilization.
Knee Joint: Outline , objectives, structure of the Tibio femoral joint, patello
femoral joint, knee joint motion – flexion ,extension, rotation, Arthro-kinematics,
stabilization and its contributors, positioning of the knee joints,
locking/unlocking mechanism, Q- angle

UNIT III Posture and Gait: Outline, objectives, External and internal forces, optimal 10
posture, analysis of posture – effects of age, pregnancy, occupation, and
recreation on posture. Introduction to Gait, general features, kinetics/kinematics,
energy requirements, Gait types – stair and running gaits. Determinants of Gait,
effects of age, disease , injury and mal-alignment- gait analysis, foot pressure
studies

UNIT IV Design of Medical Implants: Importance of medical Devices, World Scenario, 8

Design process & factors, Micro Engineering, Prototyping, Software based
design of implants – MIMICS, CAD/CAM, Material Analysis, Finite Element
Analysis

UNIT V Biomedical Applications of Finite Element Modeling: Introduction, Analysis 8

of Prosthetic joint systems – Knee – Analysis of the individual components of
an Artificial Knee and assembly analysis, Stresses in the implant, cement and
the bone Knee and Hip.
SUGGESTED READINGS:
1. Alexander R Mc Neill, Biomechanics, Chapman and Hall, 1975
2. D N Ghista, Biomechanics of Medical Devices, Macel Dekker, 1982
3. A Z Tohen and C T Thomas, Manual of Mechanical Orthopaedics
4. D.N. Ghista and Roaf, Orthopaedic Mechanics, Academic Press
5. V.C. Mow and W. C. Hayes, Basic Orthopedic Biomechanics, Lippincott, Raven Publishers
6. Pamela. K. Levangie and Cynthia C. Norkin. Joint Structure and Function: A
Comprehensive Analysis.
7. Y.C.Fung, Biomechanics: Motion, Flow, Stress, and Growth, Springer, 1998.

ICED: Minor Area 3: Intelligent Control

Course No. Title of the Course Credit Course Structure Pre-Requisite

ICICE06 Nonlinear Systems and Control 4 L-T-P: 3-1-0 Control Systems

COURSE OUTCOME (CO):

1. To study the concepts of common nonlinearities.
2. Learning basic characteristics of nonlinear systems.
3. Apply phase plane analysis for linear and nonlinear system.
4. Analyse the concepts and techniques for stability analysis.
5. Investigate the design aspect of nonlinear control

COURSE CONTENT: Lecture

(in Hrs.)

UNIT I Introduction to linear and nonlinear control system: Definitions, examples 8

and features of nonlinear control system, methods of linearization, jump
resonance in nonlinear system, common physical nonlinearities such as friction,
backlash, dead zone, relay, saturation and hysteresis nonlinearities etc.

UNIT II Describing function method of Nonlinear analysis: 8

Types of nonlinear elements and their input-output characteristics, Describing
function for common nonlinear elements, stability analysis of nonlinear system
using describing functions

UNIT III Phase plane analysis: Phase Plane Analysis of Linear and Nonlinear Systems 6
concept of phase plane, autonomous system and singular points, nodal point,
saddle point.

UNIT III Isocline method of phase plane analysis, Delta methods, types of nonlinear 5
system stability, limit cycle and their types, Benediction theorem.

UNIT IV Liapunov method of nonlinear system analysis: Direct method for LTI 4
systems, Krasovski’s method of nonlinear system stability, Variable gradient
method, Absolute stability criteria for nonlinear system, Popov method of
nonlinear system stability analysis.

UNIT V Nonlinear Control Systems Design: Feedback Linearization, Intuitive 8

Concepts, Mathematical Tools, Input-State Linearization of SISO Systems,
Input-Output Linearization of SISO Systems, Multi-Input Systems, Sliding
Mode Control, Sliding Surfaces, Continuous Approximations of Switching
Control Laws.

Total 40
SUGGESTED READINGS:
1. H.K. Khalil, Nonlinear systems, Prentice Hall, 3rdEdn., 2002.
2. M. Vidyasagar, Nonlinear systems analysis, 2ndEdn., Society of Industrial and Applied
Mathematics, 2002.
3. Applied nonlinear control by J. J. Slotine
4. Control System Engineering by I. J. Nagrath and M. Gopal
5. Nonlinear analysis by Cunningham

Course Title of the Course Credit Course Structure Pre-Requisite

No.
ICICE07 Discrete time systems 4 L-T-P: 3-0-2 Nil

Course Objectives (CO):

1. Gain familiarity with sample theory, z-transform, and other analysis tools.
2. To analyse the time response of discrete systems.
3. To decide the system stability in discrete domain.
4. Frequency response analysis of discrete systems.
5. Learning to design digital control systems.
COURSE CONTENT: Lecture
(in Hrs.)

UNIT I Introduction to Digital Control, Discrete time System Representation, Sampling

and Reconstruction, Modeling discrete time systems by pulse transfer function.
Revisiting Z-transform, Mapping of S-Plane to Z-Plane, pulse transfer function of
closed loop systems
UNIT II Time-response of discrete systems, second order systems, Discrete PID Controller
and its application

UNIT III Stability analysis of discrete time systems, Jury stability test, stability analysis
using bilinear transformation, Root locus method

UNIT IV Frequency Response, Nyquist criteria and Sampling Theorem, Bode Plot and
determination of frequency response parameters.

UNIT V Introduction to State Space in discrete time domain, Various Canonical forms,
State equation and its solution, Controllabilty and Observability, Pole-placement
by state feedback, Full order and reduced order observer.
SUGGESTED READINGS:
1. M. Gopal, Digital Control Engineering, Wiley Eastern, 1988.
2. Katsuhiko Ogata, Discrete-time control systems, NJ: Prentice-Hall , Englewood Cliffs, 1995
3. M. Gopal, Digital Control and State Variable Methods, TMH , 2003
4. G.F. Franklin, J. D. Powell, M.L. Workman, Digital Control of Dynamic Systems, Pearson , 2008
5.Benjamin C. Kuo, Digital Control Systems, Oxford University Press , 2012
Course No. Title of the Course Credits Course Structure Pre-Requisites

ICICE08 Large Scale Systems 4 L-T-P: 3-1-0 Control Systems

COURSE OUTCOME (CO):

1. Model simplification techniques in the analysis and simulation of large-scale systems
2. Procedures in assessing systems behavior
3. Decentralized and hierarchical control design methods.
4. Low order controller for effective control of high order systems.
5. MATLAB based analysis of high order systems

COURSE CONTENTS Lecture

(in Hrs)

Unit I Introduction to Large Scale Systems 5

Introduction to Large Scale Systems, Hierarchical structures, Decentralized control,
Large Scale System Modeling.

Unit II L.S.S. Modelling - Frequency Domain 12

Introduction, Moment matching, Pade approximation for SISO systems, Pade
approximation for Multivariable systems, Routh approximation using (Alpha- Beta)
Parameters, Routh approximation using (Gamma-- Delta) Parameters, continued
fraction method, error minimization methods, mixed methods and unstable systems,
Stable Pade approximation based on Interlacing Property.

Unit III L.S.S. Modelling - Time Domain 5

Aggregation of control systems, determination of aggregation matrix, modal
aggregation, aggregation by continued fraction, perturbed method, time scale
separation , fast and slow sub systems, Balanced Realization Method

Unit IV Low order Controller design. 8

Approaches to the design of low order controllers, controller and plant reduction
via frequency weighted Approximation, Frequency weighted balanced Truncation.

Unit V Analysis of Large-scale systems 8

Based on frequency domain and time domain using MATLAB

TextBooks/References
1. 'Large Scale Systems Modelling and Control', Mohammad Jamshidi,1989, North Hollard (Series in
systems science and engineering, vol.9).
2. 'Large Scale Systems Modelling', Magdi S. Mohamoud and Madan G. Singh, Pergamon Press
(International series on Systems and Control), 1981.
3. Model Reduction for Control System Design Goro Obinata &B D O Anderson Springer