Control Systems for Embedded
EMB 325 provides students with a foundational understanding of classical control systems principles, tailored for implementation within embedded platforms. The course covers modeling of physical systems, time-domain and frequency-domain analysis of linear time-invariant (LTI) systems, and stability analysis. Students will learn to design controllers, including PID, lead, and lag compensators, to meet performance specifications such as rise time, overshoot, and steady-state error. A significant portion of the course emphasizes practical application, where theoretical concepts are reinforced through simulations and hands-on laboratory exercises using microcontrollers. Students will gain experience in translating continuous-time control designs into discrete-time implementations suitable for embedded systems, considering challenges like sampling effects and computational limitations. The curriculum integrates common industry tools for system simulation and analysis. Upon completion, students will be able to analyze the behavior of simple control systems, design controllers to achieve desired performance, and implement these controllers on embedded hardware, laying the groundwork for advanced topics in robotics, automation, and real-time embedded control.
Prerequisites
Course outline
Lectures, virtual labs, and graded assignments — completed in your browser.
Syllabus
## Course: EMB 325: Control Systems for Embedded ### Term: 7 ### Credits: 4 ### Course Outcomes: Upon successful completion of this course, students will be able to: 1. **Model and Analyze Systems:** Develop mathematical models for various physical systems and analyze their behavior in both time and frequency domains. 2. **Assess System Stability:** Apply stability criteria (e.g., Routh-Hurwitz, Nyquist) to determine the stability of control systems. 3. **Design PID Controllers:** Design and tune Proportional-Integral-Derivative (PID) controllers to meet specified performance objectives for embedded applications. 4. **Implement Digital Control:** Translate continuous-time control designs into discrete-time algorithms suitable for real-time implementation on microcontrollers. 5. **Utilize Simulation Tools:** Employ simulation software (e.g., MATLAB/Simulink) for control system analysis, design, and verification. 6. **Integrate Hardware and Software:** Implement and test control algorithms on embedded hardware, demonstrating practical system control. ### Weekly Topic List: * **Week 1:** Introduction to Control Systems; System Modeling (Mechanical, Electrical) * **Week 2:** Laplace Transforms and Transfer Functions; Block Diagram Reduction * **Week 3:** Time Domain Analysis: First and Second Order Systems; Transient and Steady-State Response * **Week 4:** Stability Analysis: Routh-Hurwitz Criterion; Steady-State Errors and System Type * **Week 5:** Root Locus Analysis: Principles and Construction * **Week 6:** Root Locus Design: PID Controller Design Introduction * **Week 7:** Frequency Domain Analysis: Bode Plots; Nyquist Criterion * **Week 8:** Compensator Design: Lead, Lag, and Lead-Lag Compensation * **Week 9:** Digital Control Systems: Sampling Theory; Z-Transforms * **Week 10:** Digital Controller Design: Digital PID Implementation * **Week 11:** State-Space Representation: Modeling and Analysis * **Week 12:** Introduction to Optimal Control and Robust Control Concepts * **Week 13:** Comprehensive Midterm Review * **Week 14:** Final Review ### Grading Policy: * Knowledge Checks: 15% * Assignments/Labs: 30% * Quizzes: 25% * Final Exam: 30% ### Required Materials: * **Textbook:** Control Systems Engineering by Norman S. Nise, 8th Edition, Wiley. * **Software:** MATLAB/Simulink (student license or equivalent), Arduino IDE, C/C++ Compiler for embedded development. * **Hardware:** Arduino Uno or equivalent microcontroller development board, basic electronics components (resistors, capacitors, motors, sensors).