Texas A&M University

Department of Mechanical Engineering

Fall 2016
MEEN 431: Advanced System Dynamics and Controls
Instructor:
Name
Dr. Pilwon Hur

Office Hours:
Instructor
Dr. Pilwon Hur
TA

Sections
501 (Lecture)

Office
MEOB 222

Time
MWF 10:20-11:10

Contact
979-862-4461

Location
HELD 118

e-mail
pilwonhur@tamu.edu

Hours
T 9-10:30PM or by appointment
TBD

Prerequisites: MEEN 364, Dynamic Systems and Controls

Textbook:
There are no required textbooks. I will use various references a few of which are listed below. Whenever
needed, I will post reading materials.
References:
1. Feedback Control of Dynamics Systems, 7th by Franklin, Powell, and Emami-Naeini, Prentice
Hall, 2014
2. Dynamics: Theory and Applications by Kane and Levinson, McGraw-Hill Book, 1985
3. Dynamics in Engineering Practice, 10th by Childs, CRC Press, 2011
4. An Introduction to Dynamics, 4th by McGill and King, Tichenor Publishing, 2003
5. MEEN431 Lecture Note by Dr. Rathinam
6. MEEN408/612 Lecture Note by Dr. Hur

Course Description: Unified framework for modeling, analysis, synthesis, design and simulation of
mechanical systems with energy exchange across multiple domains: Study of mechanical, electrical,
hydraulic and thermal subsystems; Newtonian (classical) mechanics, rigid body dynamics, Lagrangian
mechanics, multiple degrees of freedom vibrations and control system design. Three credit hours (3-0).

Course Objective: To build upon the fundamentals of analytical dynamics and feedback control to:
1. Understand feedback and control design
2. Predict dynamic behavior of mechanical systems by analytical methods and computer simulation
(Matlab/Mathematica)
3. Synthesize/design mechanical systems to achieve desired performance goals

Course Structure and Grading: Homework will be assigned about once every two weeks and please
expect about two weeks for finishing each homework. No late homework will be accepted. Solutions to
homework problems will be made available. All written work must be clear and professionally done with
the necessary steps leading to the solution clearly marked. Homework solutions will be made available on
eCampus. At most one of the homework problems will be selected for grading randomly and it will carry
80% of the grade for that homework set. The remaining problems will receive a checkmark, if a solution
is present, and they will receive 20% of the grade for that homework set. Homework is intended to show
your individual work. Each student is required to turn-in his/her solutions to the homework assignments.
However, you are allowed to form groups or join each other on discussions regarding the problems.
1.
2.
3.
4.
5.

Mid Term I: 20%

Mid Term II: 20%
Final: 30%
Homework: 15%
Projects: 15%

Project: The project consists of two parts. If part one is not completed, you cannot proceed to part two.
You are allowed to work in groups of three or four. A typed report will be required, and no late project
report will be accepted. Specific instructions will be provided with the project assignments.
Lecture Note: Lecture notes will be available on eCampus. You can download before the class starts.
Annotated lecture notes will be also posted on eCampus.

Tentative Schedule:
Kinematics
Week 1: Introduction, reference frame, various coordinate systems, kinematics for particles
Week 2: Kinematics for the rigid bodies, angular velocity, angular acceleration, differentiation on
different reference frames
Week 3: Translations, rotations, homogeneous transformations.
Week 4: Inverse kinematics and velocity kinematics (Jacobian)
Kinetics
Week 5: Newtonian mechanics, FBD, inertia matrix
Week 6: Linear momentum, angular momentum
Week 7: Work-energy principle, impulse-momentum principle
Week 8: Lagrangian mechanics (Project 1 will be assigned)
Linear System Theory (Control)
Week 9: Linearization, state-space representation, matrix exponential
Week 11: Transfer function, performance specification, Routh stability criterion
Week 12: Bode plot, loop shaping, of compensators, Nyquist stability criterion
Week 13: PID synthesis and tuning
Week 14: State feedback, output feedback, observer design

Americans with Disabilities Act

The Americans with Disabilities Act (ADA) is a federal antidiscrimination statute that provides
comprehensive civil rights protection for persons with disabilities. Among other things, this legislation
requires that all students with disabilities be guaranteed a learning environment that provides for
reasonable accommodation of their disabilities. If you believe you have a disability requiring an
accommodation, please contact the Department of Student Life, Services for Students with Disabilities in
Room 126 of the Koldus Building, or call 845-1637.
Copyrights
The handouts used in this course are copyrighted. By handouts" we mean all materials generated for this
class, which include but are not limited to syllabi, lab problems, in-class materials, review sheets, and
additional problem sets. Because these materials are copyrighted, you do not have the right to copy the
handouts, unless the author expressly grants permission.
Scholastic Dishonesty
As commonly defined, plagiarism consists of passing off as ones own ideas, work, writings, etc., that
belong to another. In accordance with this definition, you are committing plagiarism if you copy the work
of another person and turn it in as your own, even if you have the permission of that person. Plagiarism is
one of the worst academic sins, for the plagiarist destroys the trust among colleagues without which
research cannot be safely communicated. If you have questions regarding plagiarism, please consult the
latest issue of the Texas A&M University Student Rules [http://student-rules.tamu.edu/], under the section
Scholastic Dishonesty.
Aggie Honor Code: An Aggie does not lie, cheat, or steal, or tolerate those who do