Undergraduate courses
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ELEC 372 Fundamentals
of Control Systems Mathematical
models of control systems. Characteristics, performance, and stability of linear
feedback control systems. Root-locus methods. Frequency response methods.
Stability in the frequency domain. Design and compensation of feedback
control systems. Review of matrix algebra. State-space description
of dynamic systems: linearity, causality, time-invariance, linearization.
Solution of state-space equations. Transfer function representation.
Discrete-time models. Controllability and observability.
Canonical forms and minimal-order realizations. Stability. Stabilizability and pole placement. Linear quadratic
optimal control. Observer design. Linear least squares. Properties of quadratic functions
with applications to steepest descent method, ELEC 483 Real-Time Computer Control Systems Introduction to real-time
computer control systems; a review of discrete-time signals and systems,
difference equations, z-transform; sampled-data systems, sample and hold,
discrete models; discrete equivalents of continuous-time systems; stability
analysis; design specifications;
design using root locus and frequency response methods; implementation
issue including bumpless transfer, integral windup,
sampling rate selection, pre-filtering, quantization effects and
computational delay; scheduling theory and priority assignment to control processes, timing of the control
loop, effects of missed deadlines; principles and characteristics of sensors
and devices; embedded processors, processor/device interface. ENCS 472 Robot Manipulators Spatial
descriptions and transformations. Manipulator forward and inverse kinematics.
Jacobians: velocities and static forces.
Manipulator dynamics. Trajectory generation. Position control of
manipulators. Force control of manipulators. Robot programming languages. |