Georgia Institute of Technology

AE 3515 - System Dynamics and Controls - Spring 2015

Instructor information:
Name: Evangelos Theodorou
Office: 448A Guggenheim Building.
Email: evangelos.theodorou@ae.gatech.edu
Website: www.elgreco.gatech.edu

Teaching Assistants:
Name: TBA
Email: TBA

Class Location and Time:

12:05-1:25pm Tuesday
12:05-1:25pm Thursday
2:05pm - 2:55pm Friday.
Guggenheim 442

Office Hours:
Instructor office hours: Thursdays 2pm -3pm, in 448A Guggenheim Building.

Class objectives:
The purpose of this course is to provide students with a foundational understanding of dynamic
systems theory and control. This includes the mathematical modeling and analysis of physical systems as well as classical methods for feedback control design and analysis. The physical systems
studied in class are Mechanical, Electrical, Pneumatic and Thermal. In addition this class prepares
students for the follow-on courses: AE3521 Aircraft and Spacecraft Flight Dynamics, and AE
4525 Feedback Control Systems Lab.
Credits:
4.0
Textbooks:
System Dynamics, by K. Ogata, Prentice-Hall, New Jersey, 2003, (4th edition).

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References:
Below is a list of books on control theory that could be used as reference. Feel free to consult these
and any other books you may want that will assist you in comprehending the class material.
1. Control Systems Engineering, by N. S. Nise, John Wiley, New York, (3rd - 5th edition).
2. Modern Control Engineering, by K. Ogata, Prentice-Hall, New Jersey, 2002, (4th edition).
3. Mechanical Vibrations, by S. Rao, Pearson Prentice-Hall, New Jersey, 2004, (4th edition).
4. Modern Control Systems, by R. Dorf and R. Bishop, Addison-Wesley, 2011, (12th edition).
5. Feedback Control of Dynamic Systems, by G. F. Franklin, J. D. Powell, and A. EmamiNaeini, Prentice-Hall, 2010, (6th edition).
6. Automatic Control Systems, by F. Golnaraghi and B. C. Kuo, Wiley & Sons, (5th edition).
7. Feedback Systems: An Introduction for Scientists and Engineers, by K. J. Astrom and R.
Murray, Princeton University Press, 2008.
Prerequisites:
Undergraduate Semester level AE 2220 Minimum Grade of C and (Undergraduate Semester level
MATH 2403 Minimum Grade of C or Undergraduate Semester level MATH 2413 Minimum Grade
of C or Undergraduate Semester level MATH 24X3 Minimum Grade of C)
Website:
All relevant information on the class will be disseminated electronically at T-Square (http://tsquare.gatech.edu)
Attendance and Class Behavior:
Class attendance is mandatory. Each student will be responsible for obtaining notes and homework
assignments of the days he/she will miss. No cell-phones, no eating, no reading newspapers,
magazines, etc or other material which are not related to the class are allowed.
Homework Guidelines:
One set of homework problems will be assigned approximately once a week. Assignments will
be turned in at the beginning of the class. Homework should be neat and legible. You must show
all important steps in the solution. Use only the front of each page. Mark each page with your
name and page number. Begin each problem on a new page. Clearly mark your answers with a
box or double underline. Use units when appropriate. Staple all sheets together. Do not use clips.

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Deductions will be made for improper homework format. Homework will be graded and returned. No late homework will be accepted without prior consent from the instructor. In any case,
grade for late homeworks will be adjusted accordingly. Each set of homework will be available
electronically (.pdf format) from the AE3515 website. An email will be sent to the class to announce when a new homework is due. For any questions regarding the homework you should
contact the Teaching Assistant.
Collaboration:
Some cooperation for solving homework problems can be helpful in learning and, in this respect,
is encouraged. This implies that collaboration is acceptable only as a means for exchanging ideas,
generating thought-provoking discussions and, in general, for obtaining a deeper understanding of
the course material. Copying someone elses homework solution, however, will not be tolerated.
Grading Policy and Exams:
The grades will be determined based on class participation, homework assignments, two midterms, and annual exam according to the rule:
Grade = 10% Homework + 2 25% Miderm + 40% Final
Percentage
90 - 100
80 - 89
65 - 79
50- 64
< 50

Grade
A
B
C
D
F

The date for the first midterm exam is on Tuesday, Feb 17. The date for the second midterm
exam is on Tuesday, March 24. The final exam is on Thursday April 30 at Guggenheim 442.
Absence from exams is excused only under documented emergencies in consultation with the
Office of Dean of students.
Tentative Schedule:
1. introduction - Ogata 1,2.
(a) Complex numbers, properties and geometric interpretations
(b) Laplace Transform.
(c) Inverse Laplace Transform
(d) Solving Linear and Time Invariant Differential equations.
(e) Nonlinear Systems and Linearization.

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(f) Solution of Nonlinear Systems Runge-Kutta method.

2. Modeling of Mechanical and Electromechanical Systems - Ogata 3.
(a) Units and metric systems.
(b) Mechanical Elements and Modeling of Mechanical Systems
(c) Spring, Mass, Damp Elements and Friction.
(d) Work, Energy and Power.
3. State Space and Transfer Function Representation of Dynamical Systems- Ogata 4, 5.
(a) State Space Representation of Linear Dynamical Systems.
(b) Transfer Functions Representation.
(c) Block Diagrams and Signal Flow Graph Representation.
(d) From Transfer Functions to State Space and Signal Flow Graph Representation.
(e) State Space Models for Systems with Input Derivatives.
(f) Transformation of Systems.
4. Electromechanical Systems-Ogata 6.
(a) Fundamentals of of Electrical Circuits.
(b) Mathematical Modeling of Electrical Systems
(c) Analogous Systems, Power and Energy.
(d) Mathematical Modeling of Electromechanical Systems.
(e) Mathematical Modeling of Operational-Amplifier Systems.
5. Modeling of Fluid and Thermal Systems-Ogata 7.
(a) Mathematical Modeling of Liquid-Level Systems.
(b) Mathematical Modeling of Pneumatic Systems.
(c) Mathematical Modeling of Hydraulic Systems.
(d) Mathematical Modeling of Thermal Systems.
6. Time Domain Analysis of Dynamical Systems-Ogata 8.
(a) Transient Response Analysis of First Order systems.
(b) Transient Response Analysis of Second Order Systems.
(c) Transient Response Analysis of Higher Order Systems.
(d) Solutions of Linear Time Invariant Systems.

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(e) Systems with Nonlinear Dynamics and Linearization-Multidimensional Systems.

(f) Solutions of Nonlinear Dynamical Systems-Runge-Kutta method.
7. Frequency Domain Analysis of Dynamical Systems-Ogata 9.
(a) Frequency Response and sinusoidal Transfer Function.
(b) Vibrations in Rotating Mechanical Systems.
(c) Vibration Isolation and Absorbers.
(d) Free Vibrations in Multi-Degrees-of-Freedom Systems.
8. Stability Analysis and Control Design in Time Domain-Ogata 10.
(a) Block Diagrams and their Simplification.
(b) Automatic Controllers P, PI, PD, PID control.
(c) Transient -Response Analysis and Specifications.
(d) Transient Response Improvement and Steady-State Characteristics.
(e) Stability Analysis, Routh Stability Criterion, Eigen-Value based StabilityAnalysis
(f) Root Locus Analysis.
(g) Tuning Rules of PID Controllers.
9. Stability Analysis and Control Design in Frequency Domain-Ogata 11.
(a) Bode Diagram Representation of Frequency Response
(b) Nyquist Plots and Nyquist Stability Criterion.
(c) Design of Control Systems in the Frequency Domain.