MECHENG 724

Multivariable Control Systems

Summary


Semester

Semester 2, 2018

Staff

Extra teaching assistants

Teaching assistant: Jeremie Bannwarth

Teaching schedule

Up to 4 lectures timetabled per week. Staff to advise in lectures which slots will be used.

Contents


Calendar notes

Advanced control of mechanical and mechatronic systems. Topics include: state-space representations, linearisation, discretisation, stability, state feedback control design, optimal control, state estimation and Kalman filters. Applications in MATLAB/Simulink and with physical systems. Prerequisite: MECHENG 322Restriction: ELECTENG 722, MECHENG 423, 720

Outcome mapping


Intended learning outcomes
Related graduate attributes
Related assessments

MATLAB and Simulink tools: The student will be able to choose appropriate functions and create plots of time response.

ENGA02: problem analysis (1)
ENGA03: design and solution development (0)
ENGA04: investigation (1)
ENGA05: modern tool usage (3)
ENGA10: communication (2)
ENGK02: mathematical modelling (5)
ENGK04: specialist knowledge (5)
ENGK06: engineering practice (2)
UOA_1: Disciplinary Knowledge and Practice (4)
UOA_2: Critical Thinking (1)
UOA_3: Solution Seeking (3)
UOA_4: Communication and Engagement (1)
UOA_5: Independence and Integrity (2)
UOA_6: Social and Environmental Responsiblities (0)
Project Report
Lab Report
Assignment 3
Assignment 2
Assignment 1

Control of real physical systems: The student will be able to clearly demonstrate basic physical limitations.

ENGA01: engineering knowledge (5)
ENGA04: investigation (1)
ENGK04: specialist knowledge (5)
ENGK06: engineering practice (2)
ENGK08: research literature (1)
ENGP02: range of conflicting requirements (3)
ENGP03: depth of analysis required (1)
ENGP04: familiarity of issues (1)
ENGP05: extent of applicable codes (1)
ENGP07: interdependence (1)
UOA_1: Disciplinary Knowledge and Practice (4)
UOA_2: Critical Thinking (1)
UOA_3: Solution Seeking (3)
UOA_5: Independence and Integrity (2)
UOA_6: Social and Environmental Responsiblities (0)
Test
Project Report
Lab Report
Exam
Assignment 2
Assignment 1
Assignment 3

Lyapunov stability analysis: The student will be able to define a nonlinear control system for stabilisation and tracking controls. They will be able to apply the Lyapunov theory to evaluate the stability of a system and construct a basic Lyapunov function to design a control law.

ENGA02: problem analysis (1)
ENGK02: mathematical modelling (5)
ENGK03: abstraction and formulation (5)
UOA_1: Disciplinary Knowledge and Practice (4)
UOA_2: Critical Thinking (1)
UOA_3: Solution Seeking (3)
Exam
Assignment 3

Feedback linearisation: The student will be able to derive nonlinear control law for feedback linearization. They will be able to convert a state space model to canonical feedback linearisation form. They will be able to apply input-state linearization method and input-output linearization method to certain nonlinear control systems.

ENGA02: problem analysis (1)
ENGK02: mathematical modelling (5)
ENGK03: abstraction and formulation (5)
ENGP01: depth of knowledge required (5)
UOA_1: Disciplinary Knowledge and Practice (4)
UOA_2: Critical Thinking (1)
UOA_3: Solution Seeking (3)
Exam
Project Report
Lab Report
Assignment 3

State-space model analysis: The student will be able to form linear state-space models of general linear and nonlinear dynamic systems and analyse these models. They will be able to convert models and controllers from continuous-time to discrete-time.

ENGA01: engineering knowledge (5)
ENGA02: problem analysis (1)
ENGK02: mathematical modelling (5)
ENGK03: abstraction and formulation (5)
ENGK04: specialist knowledge (5)
UOA_1: Disciplinary Knowledge and Practice (4)
UOA_2: Critical Thinking (1)
UOA_3: Solution Seeking (3)
Test
Project Report
Lab Report
Exam
Assignment 2
Assignment 1
Assignment 3

State estimator design: The student will be able to interpret the observability of a system. They will be able to design state estimators via pole placement and Kalman filters.

ENGA01: engineering knowledge (5)
ENGK02: mathematical modelling (5)
ENGK03: abstraction and formulation (5)
ENGK04: specialist knowledge (5)
ENGK05: engineering design (1)
ENGP01: depth of knowledge required (5)
UOA_1: Disciplinary Knowledge and Practice (4)
UOA_3: Solution Seeking (3)
Test
Exam
Project Report
Assignment 2

Full-state feedback design: The student will be able to test for and interpret the controllability of a system. They will be able to demonstrate state regulation and reference tracking control designs.

ENGA01: engineering knowledge (5)
ENGK02: mathematical modelling (5)
ENGK03: abstraction and formulation (5)
ENGK04: specialist knowledge (5)
ENGP01: depth of knowledge required (5)
UOA_1: Disciplinary Knowledge and Practice (4)
UOA_3: Solution Seeking (3)
Test
Exam
Project Report
Lab Report
Assignment 2
Assignment 1

Reflect upon simulation and experimental results through succinct report writing.

ENGA09: individual and team work (1)
ENGA10: communication (2)
ENGA12: lifelong learning (1)
ENGK08: research literature (1)
ENGP04: familiarity of issues (1)
ENGP07: interdependence (1)
UOA_3: Solution Seeking (3)
UOA_4: Communication and Engagement (1)
UOA_5: Independence and Integrity (2)
UOA_6: Social and Environmental Responsiblities (0)
Project Report
Lab Report

Assessment


Coursework

Coursework for MECHENG 724 40%: 1 Test (10%), 3 Assignments (5% each), 1 Lab Project (15%).
Coursework for MECHENG 720 40%: 1 Test (10%), 1 indepedent research project (30%).

Exam rules

3 hour Closed Book exam.
Calculator permitted.

Inclusive learning

Students are urged to discuss privately any impairment-related requirements face-to-face and/or in written form with the course convenor/lecturer and/or tutor.

Other assessment rules

Lateness policy for assigments and report:
5 mins – 24 hours late -10%;
1 day – 2 days late -50%;
> 2 days late not marked.

Academic integrity

The University of Auckland will not tolerate cheating, or assisting others to cheat, and views cheating in coursework as a serious academic offence. The work that a student submits for grading must be the student's own work, reflecting his or her learning. Where work from other sources is used, it must be properly acknowledged and referenced. This requirement also applies to sources on the world-wide web. A student's assessed work may be reviewed against electronic source material using computerised detection mechanisms. Upon reasonable request, students may be required to provide an electronic version of their work for computerised review.

All students enrolled at the University of Auckland are required to complete a compulsory Academic Integrity course, usually in their first semester/year of enrolment. The University of Auckland’s full guidelines on procedures and penalties for academic dishonesty are available here.

Student feedback


Actions shared/based on previous feedback

Past course survey results summarised in the first lecture.
Any fast feedback survey results summarised in lectures.
Course audit conducted.

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