Dynamics and Control Systems (ME240) Lecture Notes

About the course:
This is a basic course on classical or s-domain control theory. It will be taught as part of the course with the title "Dynamics and Control Systems (ME 240)". The dynamics portion will be covered during the months of August and September. The controls portion during October and November. There will be two lectures/week (total 3hrs). The relevant lecture notes will be provided in a pdf form. There are in all seven pdf files. This entire material will be covered in the two months. Each pdf file comes with matlab *.m files. The matlab commands for the cases presented in the lectures are given in the *.m files. Separate worksheets will be given for the purpose of practice and study. The solutions will be discussed in a separate classroom session. There will be one midterm for the controls portion around the end of November and then a final exam. This course is meant for students who have no prior background in s-domain control theory. However, since the material is taught within a short span of two months, the teaching pace may be high. These lecture notes draw heavily from the two references mentioned below. The students will benefit by refering to the same.

  1. Controls Systems Tutorial website, Carnegie Mellon University, (http://www.engin.umich.edu/class/ctms/).
  2. Benjamin Kuo, 1982, Automatic Control Systems, Prentice Hall of India.

Lecture Notes

  1. Lecture 1: Open and closed loop systems, Laplace Transforms, impulse responses, pole locations.
    MATLAB Example: responses.m
  2. Lecture 2: PID Control of a cart.
    MATLAB Example: cruise_control_1.m
  3. Lecture 3: The Root Locus Method
  4. Lecture 4: PID of a Spring Mass Damper system
    MATLAB Example: pid_smd2.m
  5. Lecture 5: Nyquist, Bode Diagrams, second order systems, system types
    MATLAB Example: bode_lect8_2.m
  6. Lecture 6: Gain, Phase margins, designing with Bode plots, Compensators
    MATLAB Example: bode_lect8_2.m
  7. Lecture 7: Examples using compensators
    MATLAB Example: lag_cruise.m pid_smd_bode_design_final.m

Contact Information:
Venkata R. Sonti,
Assistant Professor,
Dept. of Mechanical Engineering,
Indian Institute of Science,
Bangalore-560 012, INDIA.
+91-80-2293 3227 (O)
More Information: http://www.mecheng.iisc.ernet.in/~sonti