University of Waterloo Outline Faculty members Overview Examples Courses available Faculty Members Faculty members in the ECE Control Systems Group include D Davison A Heunis D ID: 701887
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Slide1
80s Control Systems
Department of Electrical and Computer Engineering
University of WaterlooSlide2
Outline Faculty members
Overview
Examples
Courses availableSlide3
Faculty Members Faculty members in the ECE Control Systems Group include:
D. Davison
A
.
Heunis
D.
Kulic
D. Miller
C.
Nielsen
S. Sundaram
J. Thistle
D. WangSlide4
Purpose of control engineering Change the behaviour of a system (the
plant
) in a desirable way despite disturbances acting on the system and modeling uncertaintySlide5
Purpose of control engineering Change the behaviour of a system (the
plant
) in a desirable way despite disturbances acting on the system and modeling uncertaintySlide6
Purpose of control engineering Systems in which the output has no effect on the input are called open-loop systemsSlide7
Purpose of control engineering Systems in which the output has no effect on the input are called
open-loop
systemsSlide8
Purpose of control engineering Systems in which the output has an effect on the input are called
closed-loop
or
feedback
systemsSlide9
Purpose of control engineering Systems in which the output has an effect on the input are called
closed-loop
or
feedback
systemsSlide10
Purpose of control engineering Systems in which the output has an effect on the input are called
closed-loop
or
feedback
systemsSlide11
Examples Heating control in a roomSlide12
Examples Control of wind turbinesSlide13
Examples
Robotic manipulatorSlide14
Examples Control of HIV infection dynamicsSlide15
Course Summary
4A
4B
ECE 481
Digital Control Systems
ECE 488
Multivariable Control Systems
ECE 486
Robot Dynamics and Control Slide16
Which Courses to Take?
4A:
ECE 481
Digital Control Systems
Performance specifications for design. Dynamic system modelling and basic system identification. Dealing with basic nonlinear effects. Sampled data systems. Discrete-time system stability and dynamic performance. Digital control system design: emulation methods, z-domain, frequency domain, pole placement. Implementation of digital controllers.
ECE 486
Robot Dynamics and Control
Homogeneous transformations. Kinematics and inverse kinematics.
Denavit-Hartenberg
convention.
Jacobians
and velocity transformations. Dynamics. Path planning, nonlinear control. Compliance and force control.
4B:
ECE 488
Multivariable Control Systems
Review of feedback control design fundamentals; SISO controller parameterizations; performance limitations in feedback control; the fundamental effect of MIMO interaction; state-space representation of MIMO systems; controllability,
observability
,
stabilizability
, and
detectability
; state-feedback design; state estimation using observers; MIMO integral control; introduction to optimal control; application to electromechanical systems.
All of the above have
ECE
380 (or equivalent) as a pre-req.
ECE
488
does not require either of the
4A
courses as pre-
reqs
.Slide17
Pre-Enrolment Remember that you must pre-enrol in
October for 4A courses
June for 4B courses
Courses with fewer than 20 students will be cancelled!Slide18
Summary Courses available:
Two in 4A and one in 4BSlide19
Copyright and DisclaimerThese slides are Copyright © 2010 by the Department of Electrical and Computer Engineering of the University of Waterloo. All rights reserved.
No warranty is given that any information in these slides is
correct
For up-to-date scheduling please see
http
://
www.adm.uwaterloo.ca/infocour/CIR/SA/under.html
Contact Prof. C. Nielsen (
cnielsen@uwaterloo.ca
) if you have further questions.