1. Introduction: This is a guideline outlining the details, rules and general requirements for the control theory course project. The goal of the projects is to give you examples of how to implement control systemmethodsandtechniquesdevelopedduringthecourse.YouareencouragedtouseMatlab to develop model or figures or any other parts of the project. However, you can also prepare everything by hand. Use of Matlab/Simulink is not necessary. Only hardcopy submission isacceptable

2. Suggested steps to complete theproject:

There are many ways to solve each one of the suggested problems. Each one of the projects will consist of the following majorsteps:

1. Dynamic modeling (showing full steps of finding governingequations)

2. Development of transfer functions and block diagram (development of transfer function relating input to output for the open loopsystem)

3. Developmentofblockdiagramshowingthedynamicsoftheclosedloopsystemand thecontroller.

4. Selection of controller structure. All groups will first implement a Proportional control law. If the group is not satisfied with the P-control, the group may move to an alternativestructure.

5. Selection of controlparameter(s)

6. Characterization of performance of closed-loopsystem

7. System type, Root locus for a proportional controller, Bode phase plots and discussions, transientcharacteristics.

8. Conclusion on the system and controllercharacteristics/performance

Position Servo System
An armature controlled DC motor with transmission and inertial load represents a large class of servo systems found in industry. Such systems are used to for positioning valves, in assembly equipment in manufacturing systems etc. A schematic of this system is given below, with all the relevant parameters defined.

SIL

Parameters:

La = 0.05 Henry       armature inductance

Ra = 0.5                   armature resistance

N = 10                      transmission ratio

Ja, = 0.1 N-m-sec2   armature polar moment of inertia    

Ba= 0.05 N-m-sec     armature damping coefficient

J_L= 3.0 N-m-sec2      load polar moment of inertia   

B_L= 0.05 N-m-sec2     load damping coefficient

Ke= 0.1 volt-sec          back e.m.f. constant

Kt= 0.5 N-m/amp        motor torque constant