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A Linear Control Systems Course with Emphasis on Embedded Control

Chiu H. Choi Department of Electrical Engineering University of North Florida

Abstract

This paper describes the embedded control courseware and its benefits in our linear control systems course. The embedded control courseware consists of a set of lab experiments that teaches the students how to implement proportional, integral, and derivative controllers as C programs running on microcontrollers. Applications to position and speed controls are emphasized. The microcontrollers adopted at the present time are the Freescale MC9S12C32 microcontrollers. The integrated development system adopted is CodeWarrior Development Studio for HCS12. The embedded microcontroller courseware is effective for equipping students with embedded control skills. This is indicated by the successful embedded control design projects completed within this course and excellent student evaluations.

I. Introduction

The linear control systems course is one of the most demanding courses in our undergraduate electrical engineering curriculum. The prerequisites for this course are basic knowledge of electronics, signals and systems, and microcontroller applications. The linear control systems course covers selected topics of classical control theory, computer-aided design, and the implementation of embedded control systems. The topics covered in classical control theory include modeling of dynamic systems as transfer functions, step responses, performance criteria (settling time, peak time, overshoot, and others), BIBO stability, Routh-Hurwitz method, Nyquist stability criterion, steady-state errors, root locus and its properties, and root locus design. These topics are well covered by many control textbooks [4], [5], [6], [9], [10], and [12].

Computer-aided design is also a significant component for this course. Matlab simulation skills are covered. Emphasis is on the design and simulation of proportional, derivative, and integral controllers for improving the dynamic responses of feedback control systems.

There is a laboratory component for this course. The lab experiments include characteristics of DC motors, tachometers, brake loading, signal conditioning circuits, implementation of proportional, integral, and derivative controllers as C programs running on microcontrollers with applications to position and speed controls.

The students are also required to complete embedded control projects in this course. The projects give the students the opportunities to solve practical control problems and to be creative independently.

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Choi, C. (2010, June), A Linear Control Systems Course With Emphasis On Embedded Control Paper presented at 2010 Annual Conference & Exposition, Louisville, Kentucky. 10.18260/1-2--15704