PGSyllabus_ControlSystems

8/7/2019 PGSyllabus_ControlSystems

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INSTRUMENTATION CONTROL ENGINEERING (May-09

M. Tech. CONTROL SYSTEMS - 2007Yr. Sub.Code First Semester Sub.Code Second Seme

Subject Name L T P C Subject Name

I MAT 601 Linear Algebra 4 0 0 4 ICE 602 Advanced H Control

ICE 601Process Dynamics andControl 4 0 0 4 ICE604

System Modeling andIdentification

ICE 603Navigation Guidance andControl 4 0 0 4 ICE606

Communication Networks &Protocols

ICE 605 Elective I 3 0 0 3 ICE 608 Elective III ICE 607 Elective II 3 0 0 3 ICE 610 Elective IV

ICE 609 Adaptive Control 4 0 0 4 ICE 612Computational Techniques andoptimization.

ICE 611 Soft computing Lab 0 0 3 1 ICE 614 PC Instrumentation Lab

ICE 613Control System SimulationLab

0 0 3 1 ICE 616Mini Project/seminar

ICE 615 Seminar I 0 0 3 1Total 22 0 9 25 Tota

IIICE 799

Project Work - - - 40 Total Credits =90

Total - - - 40

Elective I: Elective III:

ICE 605.1 Design of Soft Computing Techniques ICE 608.1 - H Controller Synthesis

ICE 605.2 Mechatronics ICE 608.2 Robotics and AutomationICE 605.3- Robust Optimum Control ICE 608.3- Hybrid dynamical system

Elective II: Elective IV:

ICE 607.1 Advanced Digital Signal Processing ICE 610.1 PC Based Instrumentation


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ICE 607.2 Advanced Sensor Technology ICE 610.2 VLSI Design


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SYLLABUS

I SEMESTER M.TECH. (CONTROL SYSTEMS)

MAT 601: LINEAR ALGEBRA [4 0 0 4]

Finite dimensional vector space, subspaces, linear independence, bases and dimension[04]

Algebra of transformations, range and null space of a linear transformation, matrixalgebra, simultaneous equations.

[08]

Sum and intersection of subspaces, direct sum of invariant subspaces, eigen values,characteristic vectors, Cayley-Hamilton theorem, minimal polynomial, Sylvestersinterpolation method, various canonical form. Algebra of polynomial matrices, invariant.

[13]

Polynomial matrices, invariant polynomials, elementary divisors,Smith canonical form.Inner-product spaces, Gram Schmidt orthogonalization, linear transformation and theiradjoint, self adjoint, unitary and normal transformations, polar decomposition.

[13]Some computational methods of linear algebra.

[10]

Text Books:1. Finkbeiner D.T.(1968) Introduction to Matrices and linear Transformation, D.B.

Taraorewalas.

2.

Hoffman, K and Kunze, R. (1972)- linear Algebra, Prentice Hall of India.3. Gantmocher F.R. (1960)- The Theory of Matrices, Cheisea.4. Goult, R.J., Hoskin, R.P., Milner, J.A and Pratt, M.J.(1974)- Computational methods

in Linear Algebra, Stanley Thomas Pub. Ltd.


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ICE 601: PROCESS DYNAMICS AND CONTROL [4 0 0 4]

Review of Process and Control Systems:Control Systems, Process control principles, servomechanism, Process control block diagram,identification of elements, Mathematical model of liquid process, gas process, flow process,thermal process, mixing process - Batch process and continuous process - Self regulation.

[12]

Design aspects of Process Control SystemClassification of variables, Design elements of a control system, control aspects of a process.The input output model, degrees of freedom and process controllers. Modes of operation ofP, PI and PID controllers. Effect of variation of controller variables. Typical control schemesfor flow, pressure, temperature and level processes. [12]

Control System components:I/P and P/I converters - Pneumatic and electric actuators - valve positioner - control valveCharacteristics of control valve - valve body - globe, butterfly, diaphragm ball valves - controlvalve sizing - Cavitation, flashing in control valves - Response of pneumatic transmission lines

and valves. Actuators Pneumatic, Hydraulic, Electrical/ Electronic.[12]

Dynamic behavior of feedback controlled process:

Stability considerations. Simple performance criteria, Time integral performance criteria: ISE,IAE, ITAE, Selection of type of feedback controller. Adaptive Control, Gain SchedulingAdaptive Control, Model reference adaptive control, self tuning regulator. Logic of feedforward control, problems in designing feed forward controllers, feedback control, RatioControl, Cascade Control, Elective Control systems: Over ride control, auctioneering control,split range control. Processes with large dead time. Dead time compensation. Control ofsystems with inverse response. [12]

Text Books:

1. Curtis Johnson (1996),Process Control Instrumentation Technology , Prentice Hall ofIndia

2. George Stephanopoulos (2005), Chemical Process Control, Prentice Hall of India.3. Caughanour and Koppel (1991), Process systems analysis and control, Tata McGraw

Hill.

Recommended Texts:1. Eckman D.P (1986) ,Automatic process control, Wiley Eastern2. Peter Harriot (1964), Process control , Tata McGraw Hill3. Patranabis D(2000) , Principles of process control , Tata McGraw Hill4. F.G. Shinkskey (1986), Process controls Systems, McGraw Hill.


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ICE 603: NAVIGATION GUIDANCE AND CONTROL [4 0 04]

Modeling of Aerospace Vehicle: Linear System Analysis; Classical and Modern; StabilityControllability and Observability; Control System Specifications; Missile Control Systems;Dynamics and Control of Rigid and Elastic Rockets; Control-Structure Interaction;Longitudinal and Lateral Autopilots for Rigid Aircraft; Introduction to Guidance, Navigation

and Avionics; Radar Systems, Command and Homing Guidance Systems.[24]

Guidance and Control of Aerospace Vehicles: Design of Controllers for AerospaceVehicles; Classical, Pole assignment, Eigen Structure Assignment, Optimal Control, LQR,LQG/LTR, Observers and Kalman Filters, Projective Control, Passivity and Singular ValueDecomposition Methods, Robust Control by Stable Factorization and H-infinity Control,Adaptive Control; Mission consideration and analysis of flight path, Optimal guidance Laws,Inertial Guidance.

[24]

Text Books:

1. Garnell, P. (1980)- Guided Weapon Control Systems, Peraganon.2. Blake lock, J H. (1991)- Automatic Control of Aircraft and Missiles, John Wiley.3. Greensite A L(1970)- Analysis and Design of Space Vehicle Flight Control System,

Spartan Books.4. Skolnik R E. (1982)-Introduction to Radar System , Mc Graw Hill.5. Lin, C F. (1991)- Modern Guidance, Navigation and Control Processing, Prentice-Hall.6. DAzzo J J and Hougis, C H, Linear Control System Analysis and Design, Mc Graw Hill,

4th Edition.7. Maceijowski;- (1987) Multi-Variable Feedback Design, Addison Wesley.8. D. S. Naidu (2003) Optimal Control Systems, 1/e, CRC Press9. Sinha A (2007) Linear Systems: Optimal and Robust Control,1/e, CRC Press


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ICE 605.1: DESIGN OF SOFT COMPUTING TECHNIQUES [3 0 0 3]

Basics of Fuzzy Sets: Fuzzy Relations Fuzzy logic and approximate reasoning DesignMethedology of Fuzzy Control Systems Basic structure and operation of fuzzy logic controlsystems. [08]

Concepts of Artificial Neural Networks: Basic Models and Learning rules of ANNs. Singlelayer perceptron networks Feedback networks Supervised and unsupervised learningapproaches Neural Networks in Control Systems. [10]

Basics of Genetic Algorithms: Evolution of Genetic Algorithm Applications. [ 02]

Integration of Fuzzy and Neural Systems: Neural Realization of Basic fuzzy logicoperations Neural Network based fuzzy logic inference Neural Network based FuzzyModeling Types of Neural Fuzzy Controllers. [09]

Fuzzy logic based Neural Network Models: Fuzzy Neurons Type I, Type II, Type III Fuzzification of Neural Network Models Fuzzy Perceptron and Fuzzy classification with

back propagation network Neural Networks with fuzzy training Fuzzy Neural clustering.[09]

Text Books:

1. Jyh Shing Roger Jang, Chuen-Tsai Sun, Eiji Mizutani, ( 1997), Neuro-Fuzzy and SoftComputing: A Computational Approach to Learning and Machine, Prentice Hall,.

2. Chin Teng Lin and C.S. George Lee,(1996) Neural Fuzzy Systems A neuro fuzzysynergism to Intelligent systems, Prentice Hall International

3. Yanqing Zhang and Abraham Kandel (1998), Compensatory Genetic Fuzzy NeuralNetworks and Their Applications, World Scientific.

Reference Books:

1. S. Haykin (1999)- "Neural Networks - A Comprehensive Foundation - 2nd Edition",Prentice Hall.

2. Kasuo Tanaka (1997)- An Introduction to Fuzzy Logic for Practical Applications,Springer.

3. J. Yen and R. Langari (1999)- Fuzzy Logic, Prentice Hall, Inc.4. T. J. Ross (1995)- Fuzzy Logic with Engineering Applications, McGraw-Hill, Inc.


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ICE 605.2: MECHATRONICS [3 0 0 3]

Introduction to Mechatronics Overview of Mechatronic products and their functioning.Survey of Mechatronical components, selection and assembly for precision engineeringapplications. [10]

Study of electromechanical actuators and transducers. Load analysis and actuator selectionfor typical cases such as computer peripherals. [10]

Study of electronic controllers and drives for mechanical products. Rules for mechanicaland electrical systems. [10]

Design assignments and practical case studies. [08]

Text Books:

1. Trylinsky.W. (1971)- Fine Mechanics and Precision instruments, Pergemom Press.2. Kuo.B.C. (1979)- Motors D.D and Control Systems, SRL Publishing Company.3. Kuo. B.C. (1979)- Step motors and Control Systems, SRL Publishing Company.


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ICE 605.3: ROBUST AND OPTIMAL CONTROL [3 0 0 3]

Number of credits: 3

Introduction: Norms for signals and systems, Input- Output Relationships, Internal stability,

Asymptotic Tracking, Performance. ( 04)

Uncertainty and Robustness: Plant Uncertainty, Robust stability, Robust performance.Stabilization: Controllerparameterization for stable plant, Co-prime factorization, controllerparameterization for general plant, Asymptotic properties, strong and simultaneous

stabilization. 06)Design Constraints: Algebraic constraints, Analytic constraints. ( 02)

Design for Performance: P-1

stable,P-1

unstable, Design example, 2-norm Minimization.

( 03)

Stability Margin Optimization: Optimal Robust stability, Gain margin Optimization,

Phase margin optimisation. ( 02)Design for Robust Performance: The modified problem, spectral factorization, solution ofthe modified problem, design. ( 02.)

Optimal Feedback Control: Formulation of optimal control problem, selection ofperformance criteria for minimum time, minimum energy, Minimum fuel, Principle of

optimality, Hamilton Jacobi- Bellman equation, State regulator, output regulator andtracking problems. (05)

Discrete Linear Regulator Problems: Numerical solution of the Riccati equation. Use oflinear state regulator results to solve other linear optimal control problems. Sub optimal linear

regulators- continuous and discrete time systems. Minimum time problems, minimum controleffort problems. (05)

Calculation of Variations: Fundamental concepts, minimization of functions, minimizationof functionals, functional of a single function, functionals involving several independent

functions, Piecewise smooth extremals, constrained extremal, Pontryagins minimumprinciples, control and state variable inequality constraint. (05)

Dynamic Programming: Multi stage decision process in discrete time, principle of causalityand optimality, Multi stage decision process in continuous time. Numerical solution of two-

point boundary value problem. Minimization of functions. The steepest decent method, TheFletcher- Powell method. ( 04.)

REFERENCES:

1. J.C. Doyle, B.A. Francis and A .R. Tannenbaum(1992) - Feedback control TheoryMacmillan publishing company, New York.

2. K.Morris (2001)- Introduction to feedback control, Academic press, California.3. B.A Francis (1987) - A course in H control theory, Lecture notes in control and

Information sciences, Spriger-Verlag, Berlin.4. K. Ogata (1987)- Discrete time control systems PH.5. M. Gopal (1988)- Digital control engineering. Wiley Eastern Limited, New Delhi.6. Kirk D.E (1970)- Optimal control theory, an introduction. PH.7. I .J Nagrath and M. Gopal (1982)- Control system engineering, 2/e Wiley Eastern limited,

New Delhi.

8. A. Sinha (2007) Linear Systems: Optimal and Robust Control, 1/e, CRC Press9. D. S. Naidu (2003) Optimal Control Systems, 1/e, CRC Press


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ICE 607.1: ADVANCED DIGITAL SIGNAL PROCESSING [3 0 0 3]

Time Frequency analysis, the need for time frequency analysis. Time frequencydistributions, short time Fourier transform Wigner distribution. [06]

Principles of adaptive filtering, LMS and RMS algorithms. Applications in noise and echocancellation. [07]

Homographic signal processing, homograph systems for convolution, properties of complexspectrum, application of homographic deconvolution. [07]

Multi resolution signal analysis, Decompositions, transforms sub bands and wavelets.Orthogonal transforms; cosine, sine, Hermite, Walsh Fourier, Theory of sub bankdecomposition, decimation, interpolation, design of QMF filter banks, wavelet transforms.

[12]

International standards for speech, image and video compression for personnelcommunication, digital broadcasting and multimedia systems. [06]

Text Books:

1. Leon Cohen (1995)- Time Frequency analysis, Prentice Hall.2. Haykins (1986)- Adaptive Filter Theory, Prentice Hall.3. A.V. Oppehein and R.W. Schafer (1992)- Discrete time signal processing, PHI.4. P.P. Vaidhyanathan (1993)- Multirate systems and filter banks, Prentice Hall.5. Stevan M.Kay (1988) Modern Spectral Estimation, Prentice Hall.


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ICE 609: ADPATIVE CONTROL [4 0 0 4]

Mathematical Model:

Mathematical models of I order, II order, I order with pure delay and higher order systems

discretisation techniques and computer solution of differential equations simulation ofprocess dynamics state models. [12]

Identification Methods:

Conventional techniques of identification identifications of systems with dead time discrete systems ARMA process discrete state model least squares techniques recursive lest squares algorithms fixed memory algorithms minimum variance method

[12]

Adaptive Control of Deterministic Systems:

Gain scheduling MRAC STC- minimum variance controller predictive control minimumprediction error adaptive controls adaptive control algorithms for closed loop pole

assignment adaptive control of time varying systems [10]State Estimation and Observers

Parameter estimation and state estimation luenberger asymptotic observers adaptiveobservers extended recursive least squares FM and Kalman filter. [08]

Adaptive predictive control:

Adaptive predictive control systems Fuzzy logic inverse modeling neuralnetwork methods [06]

TEXT BOOKS

1.

Astrom K.J., and Wittenamrk B.(1989)- Adaptive control, Addison Wesley PublishingCo. USA2. Sastry S. and Bodson M. (1989)- Adaptive control Stability, Convergence and

Robustness, Prentice Hall, New Jersey.

REFERENCES

1. Hsia T.C.H.A. (1974)- System identification, Lexington Books.2. Milon W.T., Sutton R.S., and Webros P.J. (1992)- Neural networks for control, MIT

press, USA.3. Stephanopoulis G(1990)- Chemical Process Control, Prentice Hall of India, New

Delhi.


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ICE 611: SOFT COMPUTING LAB [0 0 3 1]

The following experiments are to be tested using MATLAB toolboxes although programminglanguage is suggested as a better option:

I. MATLAB Fuzzy Logic Toolbox

a. To implement fuzzy set operationsb. To implement fuzzy relational operations.c. To design and implement fuzzy temperature controllerd. To design and implement Fuzzy Traffic light controllere. To write and illustrate the concept of Fuzzy C means Clusteringf. To design a self executable fuzzy logic controller

II. MATLAB Neural Network Toolbox

a) Write programs to test the learning rules of Hebb, Perceptron, Delta, and Widrow Hoffin MATLAB learning rule.

b) To implement the Back propagation algorithmc) To write and test a program for the linear separability of the input domaind) To write and implement a Hopfield algorithm.e) To write a program for pattern recognitionf) To design a self executable neural classifier.Reference Books:

1. Jyh Shing Roger Jang, Chuen-Tsai Sun, Eiji Mizutani (1997) - Neuro-Fuzzy and SoftComputing: A Computational Approach to Learning, Prentice Hall.

2. Chin Teng Lin and C.S. George Lee (1996) - Neural Fuzzy Systems A neuro fuzzysynergism to intelligent systems Prentice Hall International.

3. Yanqing Zhang and Abraham Kandel (1998) - Compensatory Genetic Fuzzy NeuralNetworks and Their Applications" World Scientific.

4. S.N. Sivanandam, S. Sumathi, S.N. Deepa (2006)- Introduction to Neural Networksusing Mat Lab 6.0 Tata Mc Graw Hill.


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ICE 613: CONTROL SYSTEM SIMULATION LABORATORY [0 0 3 1]

Prerequisites:

1. Basic concepts of electronic circuit analysis techniques2. Control System Concepts3. Laplace transform4. Matlab programmingCourse Topics:

1. Familiarization with Matlab and Matlab Control System Toolbox.2. Transfer functions3. Time domain analysis and steady state errors4. Proportional Integral Derivative Control5. Stability analysis using Bode plots and Nyquist plots6. State Space analysis - Controllability, Observability and system gain7. Pole placement and Root locus8. Compensation design using Lag, Lead compensators9. Compensators using Lead Lag approaches10.Models of Practical systems like electric Power System11.Familiarization of digital Control System Analysis12.Analysis of stability in digital domain.

Expected Course Outcomes:

1. To give each student knowledge of contemporary issues related control engineering, inparticular computer-aided design of control systems using state-space methods

2. To give each student the type of real-world experience in control systems design andimplementation, crucial for a control engineer.

3. To develop in each student the basic skills of problem solving and critical thinking.Text Books:

1. D. Frederick and J. Chow, (2000) Feedback control problems using MATLAB,Brooks/Cole Thomson Learning,.

2. MATLAB documentation.3. Control System Tool Box documentation4. Ogata(1998.), Modern Control Engineering, Tata McGraw Hill,


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ICE 615: SEMINAR [0 0 3 1]


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II SEMESTER M.TECH. (CONTROL SYSTEMS)

ICE 602: ADVANCED HCONTROL [4 0 0 4]

Parameterization of Stabilizing Controllers: Existence of stabilizing controllers, Duality

and special problems, Parameterization of all stabilizing controllers, structure ofcontroller parameterization closed loop transfer matrix, Youla parameterization viaCoprime factorization. [06]

Algebraic Riccati Equations: All solution of a Riccati equation, Stabilizing solution andRiccati operator, extreme solutions matri inequalities spectral factorizations, positive realfunctions, inner functions, inner outer factorizations, Normalized coprime factorizations.

[06]

H2 Optimal Control: Introduction to Regulator problem, Standard LQR problem, ExtendedLQR problem, Guaranteed stability margins of LQR, standard H2 problem, optimalcontrolled system, H2 control with direct disturbance feed forward, separation theory

stability margins of H2 controllers. [06]

Linear Quadratic Optimization: Hankel operators, Toeplitz operators, mixed Hankel-Toeplitz operators- general case, Linear quadratic max-mini problem

[06]H Control: Simple case: Problem formulation, output feedback H control, motivation forspecial problems, Full information control, full control, disturbance feed forward, outputestimation, separation theory, optimality and limiting behavior, controller interpretations,optimal controller. [06]

H Control: General case:General H solutions, loop shifting, H2 and H integral control, H filtering, Youla

parameterization approach, connections, state feedback. [06]

H Loop shaping:Robust stabilization of coprime factors, loop shaping using using normalized coprimestabilization, theoretical justification for H loop shaping. [05]

Controller order reduction:Controller reduction with stability criteria, H controller reductions, frequency weightedL norm approximations. [05]

Fixed Structure controllers:Lagrange multiplier method, fixed order controllers. [02]

Text Books:1. K. Zhou, J.C. Doyle and K.Glover (1996)- Robust and Optimal Control, Prentice Hall,

New Jersey.2. K. Morris (2001)- Introduction to Feedback Control, Harcourt/Academic press, New

York.3. M. Greens and D.J.N Limebeer (1995)- Linear Robust Control, Prentice Hall

Englewood Cliffs, New Jersey.


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ICE 604: SYSTEM MODELING AND IDENTIFICATION [4 0 04]

Introduction: Probability and random processes, Discrete and continuous distributions,central limit theorem, Random number generation, Monte Carlo Techniques, statisticaldescription of data, modeling of data, Data fitting methods, regression analysis, Goodnessof fit, Modeling and simulation concepts, models in general system theory. [07]

Statistical Analysis: Discrete event simulation, event scheduling, time advancealgorithms, manuals simulation using event scheduling, statistical methods in simulation,Analysis of simulation data, verification and validation of simulation models, Comparisonand evaluation of alternative system design. [10]

Modeling and Simulation of Dynamic systems: Solutions of ODEs, numerical methods forsolutions of ODEs, explicit and implicit methods, error and accuracy, stability analysis ofnumerical solvers, stff systems and stability. [06]

Frequency Domain Analysis: Frequency domain in analysis of linear systems, FFT andpower spectra, nonlinear systems, maps bifurcations and chaos. For all computations use

of Matlab will be highly recommended. [05]

Conventional Methods of System Modeling: Impulse response Frequency response Stepresponse methods Signal modeling. [06]

Digital Simulation of Processes: Discrimination techniques Runge-Kutta method Z-transform method Use of simulation packages Simulation of first and second ordersystem with and without dead time. [06]

Expanding memory identification techniques: Off-line Online methods Recursive leastsquares Modified least squares techniques Fixed memory Rs algorithm Maximumlikelihood Instrument variable stochastic approximation techniques. [08]

Text Books:

1. Banks J, Carson J.S and Nelson B (1996)- Discrete Event system Simulation, 2/ePrentice hall India.

2. Edwards D and Hamson M (1989)- Guide to mathematical Modelling, Macmillan, London.3. Giordano F.R and Weir MD (1985)- A first course in mathematical modeling,Wadsworth.4. Deo N (1983)- Systems siulation with digital compute Prentice Hall.5. Hale.J and Kocak 1992- Dynamic and Bifurcations, Spring-Verlag.6. Hirsh.M and Smale.S (1974)- Differential equations, Dynamical systems,and linear

algebra. Academic press.7. Pratap R (1995)- Getting started with Matlab, Sounders college publishing.8. Isermann R.(1993)- Digital Control Systems, Vol. I & II, Narosa Publishing House,

Reprint.9. Mendel J.M. (1973)- Discrete Techniques of Parameter Estimation, Marcel Dekkar,

New York.10.Goodwin G.C. and Sin S.K. (1984)- Adaptive Filtering, Prediction and Control Filtering,

Prediction and Control, Prentice Hall Inc., New Jersey.


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ICE/ECE 606: COMMUNICATION NETWORKS AND PROTOCOLS [4 0 0 4]

Introduction to computer networks: Network hardware-software, OSI reference model,TCP/IP reference model, comparison of above models. [04]

Physical Layer: basis for data communication-Fourier analysis, band width limited signals,data rate, Transmission medium, public switched telephone network, mobile telephonesystem, cable television. [10]

Data Link Layer: design issues-error detection and correction-data link protocols-slidingwindow protocols-verification using FSM and petri net models. [10]

Network Layer: Design issues-routing algorithms-congestion algorithms; quality of service;network layer in the internet. [10]

Transport Layer: Performance issues, Transport protocols-example of the protocol-internet transport protocols: UDP and TCP.

Application Layer: Domain name system, email architectural overview of WWW, HTTPprotocol, multimedia. [10]

Network Security: Crytography - algorithms-digital signatures-web security. [04]

Text Books:

1. Bertsekos A and Gallager R (1989) Tata Networks PHI.2. Tanenbaum A.S.(1987) Computer Networks 3rd Edition, PHI.3. Mischa Schwarz (1987) Telecommunication Networks, Protocols, Modeling and

Analysis Addison Wesley.4. Bekar and Piper (1982) Cipher Systems.North wood books.


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ICE 608.1: H CONTROLLER SYNTHESIS [3 0 0 3]

Multivariable Frequency Response Design: Introduction, Singular values, singular valuedecomposition, singular value inequalities, sensitivity operator, Robust stability analysis,Performance analysis and enhancement. [03]

Signals and Systems: Signals, size of signals, signals in frequency domain. Systems, linearsystems, space L, space H, adjoint systems, Allpass systems, Size of a system, small gaintheorem [05]

Linear Fractional transformations: Introduction, composition formula, interconnection ofstate space LFTs, LFTs in controller synthesis, generalized regulator problem, The fullinformation problem, contractive LFTs, constant matrix case, Dynamic matrix case,Minimizing the norm of constant LFTs, simplifying the generalized plant.

[07]

LQG Control: Introduction, Full information, finite-horizon case, infinite horizon case,inclusion of cross terms,. Kalman filter, finite-horizon case, infinite horizon case,

Measurement feedback, finite-horizon case, infinite horizon case. [05]

Full-Information H Controller Synthesis: The finite horizon case, connection todifferential games, first order necessary conditions, Riccati equations, sufficiency andnecessity- completing square, all closed loop systems, all controllers. The infinite horizoncase, preliminary observations, sufficiency, a monotonicity property, assumptions,necessity, all controllers. [06]

The H Filter: Finite-horizon results, necessary and sufficient conditions, All solutions,Terminal state estimation properties, Infinite-horizon results, The H Wiener filteringproblem, Inertial navigation system. [06]

The H generalized Regulator Problem: Problem statement, Finite horizon results, twonecessary conditions, necessary and sufficient conditions, Infinite-horizon results, anequivalent problem, necessary and sufficient conditions. [06]

Text books:1. M. Greens and D.J.N Limebeer(1995)- Linear Robust Control, Prentice Hall

Englewood Cliffs, New Jersey.2. K. Zhou, J.C. Doyle and K.Glover (1996)- Robust and Optimal Control, Prentice

Hall, New Jersey.3. K. Morris(2001)- Introduction to Feedback Control, Harcourt/Academic press, New

York.


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ICE 608.2: ROBOTICS AND AUTOMATION [3 0 0 3]

Basic Concepts: Definition and origin of robotics different types of robotics variousgenerations of robots degrees of freedom Asimovs laws of robotics dynamicstabilization of robots. [08]

Power Sources and Sensors: Hydraulic, pneumatic and electric drives determination ofHP of motor and gearing ratio variable speed arrangements path determination micromachines in robotics machine vision ranging laser acoustic magnetic, fiber opticand tactile sensors. [09]

Manipulators, Actuators and Grippers: Construction of manipulators manipulatordynamics and force control electronic and pneumatic manipulator control circuits endeffectors U various types of grippers design considerations. [07]Kinematics and Path Planning: Solution of inverse kinematics problem multiple solutionjacobian work envelop hill climbing techniques robot programming languages.

[07]

Case Studies: Multiple robots machine interface robots in manufacturing and non-manufacturing applications robot cell design selection of robot. [07]

Text books:

1. Mikell P. Weiss G.M., Nagel R.N., Odraj N.G. (1996)- Industrial Robotics, McGraw-HillSingapore.

2. Ghosh (1998)- Control in Robotics and Automation: Sensor Based Integration, AlliedPublishers, Chennai.

References:

1. Deb.S.R. (1992)- Robotics technology and flexible Automation, John Wiley, USA.2. Asfahl C.R. (1992)- Robots and manufacturing Automation, John Wiley, USA.3. Klafter R.D., Chimielewski T.A., Negin M. (1994)- Robotic Engineering An integrated

approach, Prentice Hall of India, New Delhi.4. Mc Kerrow P.J. (1991)- Introduction to Robotics, Addison Wesley, USA.5. Issac Asimov I Robot(1986)- Ballantine Books, New York.


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ICE 708.3: HYBRID DYNAMICAL SYSTEMS [3 0 0 3]

Total 38 hours1.Dynamical Systems: 8 hours

linear versus nonlinear systems, solutions of nonlinear dynamical systems, centermanifold and normal form theory for nonlinear dynamical systems, lagrangian and

Hamiltonian systems, bifurcation theory.

2.Introduction to Hybrid systems: 6 hoursLiterature of Hybrid systems, Notations and basic concepts, Finite Automata and

Discretedynamics, Differential Equations and Continues Dynamics, Set valued Maps and

Differential Inclusions.

3.Hybrid Dynamical Systems: 6 hoursHybrid time sets and trajectories, Autonomous Hybrid Automata, Local Existence and

Uniqueness, Global Existence, Examples of Hybrid Dynamical systems.

4.Modeling of Hybrid Systems: 6 hoursContinuous and Symbolic Dynamics, Hybrid Automaton, Features of hybrid

dynamics, General hybrid automaton, Hybrid time evolution and hybrid behavior,Event-flow formulas.

5.Complementarity Systems: 6 hoursExamples of Complementarity systems, Existence and Uniqueness of solutions, Modeselection problem, Linear complementarity systems, Mechanical Complementarity

systems, Relay systems.

6.Analysis and Control of Hybrid Systems: 6 hoursCorrectness and reachability, Stability, Safety and Guarantee properties, Switchingcontrol, PWM control, sliding mode control, Hybrid feedback stabilization.

References:

1. An Introduction to Hybrid Dynamical Systems, Arjan van der Schaft, HansSchumacher-Springer-2000.


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ICE 610.1: PC BASED INSTRUMENTATION [3 0 0 3]

Introduction:

Review of microprocessors, microcomputers, micro processing systems - Input-output

structures - Measurement of digital computer power and performance. [09]

Interfacing

Analogue signal conversion Interface components and techniques - Signal processing -Interface systems and standards Communications. [10]

Software

Real time languages Programming real time systems - Discrete PID algorithms -Real timeoperating systems - Case studies in instrumentation. [10]

Application Examples in Measurement and Control

PC based data - Acquisition systems - Industrial process measurements, like flowtemperature, pressure, and level PC based instruments development system. [09]

Text Books:

1.Ahson, S.I. (1984)- Microprocessors with applications in process control, Tata McGraw-Hill Publishing Company Limited, New Delhi.

2.George Barney C. (1998)- Intelligent Instrumentation, Prentice Hall of India Pvt. Ltd.,New Delhi.

3.Krishna Kanth(1997)- Computer based industrial control, Prentice Hall.


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ICE 610.2: VLSI DESIGN [3 0 0 3]

Overview of VlSI Design Methodology:The VLSI design process Architectural design logical design Physical design layout styles Full custom Semi custom approaches.Basic electrical properties of MOS and cMOS circuits. Ids verses Vds relationship Trans conductance pass transistor nMOS inverter Determination of full up to pull

down ratio for an n MOS inverter The cMOS inverter MOS transistor circuit mode.[08]

VlSI Fabrication Technology: An overview of wafer fabrication wafer processingoxidation Pattering Diffusion Ion implantation Deposition Silicon gate nMOSprocess n well CMOS process p well CMOS process Twintub process Silicon onisulator. [04]

MOS And CMOS Circuit Design Process: MOS layers strick diagrams nMOS designstyle CMOS design style Design rules and layout Lamda based design rules Contactcuts Double metal MOS process rules CMOS lamba based design rules Sheetresistance Inverter delay Driving large capacitive loads Writing capacitance.

[08]Subsystem Design: Switch logic pass transistor and transmission gates Gate logicinverter Two input NAND gate NOR gate other forms of COMs logic Dynamic CMOSlogic Clocked CMOS logic CMOS domian logic simple combinational logic design

example Parity generator Multiplexers. [06]

Architecture level synthesis: Introduction, circuit specifications for architecturalsynthesis, the fundamental architectural synthesis problems, area and performanceestimation.Scheduling algorithm Introduction, model for the scheduling problems,scheduling with and without resource constraints. [06]

Digital systems design using programmable logic devices: Introduction to PLDs, Fieldprogrammable gale arrays, classification of FPGAs, technology mapping for FPGAs,some case studies. [03]

Simulation & Testing: Introduction to High level simulation, Logic simulation, Circuitsimulation, Silicon compitation. Introduction to testing, test pattern generation, faultmodels, test generation methodology. [03]

Text Books:

1.Douglas, A, Pucknell and Kamran, E, Shraghian, (1994)-Basic VLSI Design,Prentice Hall of India, New Delhi, 3

rdEdition.

2.Givoanni De Micheli (2005) Synthesis and Optimization of Digital Circuits.3.Neil Weste and Kamran Esh Raghian (2005) CMOS VLSI Design SystemsPerspective.4.Eugene D. Fabricius(1990) Introduction to VLSI Design.

Reference Books:1. C. Mead and L. Conway (1990) Introduction to VLSI System.2. Wayne Wolf (2000) Modern VLSI Design System on Chip Designing Third

Edition Pearson Education Asia.


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MAT/ICE 612: COMPUTATIONAL TECQHINUES AND OPTIMIZATION [4 1 0 4]

Solution of algebraic and transcendental equations: Zeros of a function, Successivebisection method, Regula-Falsi method, Secant method and Successive approximationmethod, Simultaneous equations: Gauss elimination method, Gause-Jordan method,Relaxation method, LU decomposition method, numerical solution by Gauss-Jacobi

method, Gause-Seidel method. [08]

Interpolation and curve Fitting: Lagrange interpolation, Newtons divided differenceinterpolating polynomial, Newton-Gregory forward and backward interpolatingpolynomial, Cubic splines. Lease square approximation of functions, Linear andPolynomial regression, power exponential, parabolic, hyperbolic and sinusoidal curvefitting, multiple linear regression.

[08]

Evaluation of definite integrals: Newton-Cotes formula, Trapezoidal rule, Simpsons1/3 rule & 3/8 rule, Weddles Error analysis, evaluation of double integrals.

[04]

Numerical solution of differential equations: Eulers method, Picards method,Predictor-Corrector method, Runge-Kutta Second and Fourth order equations. [05]

Linear programming: Standard form of linear programming problem, Geometry ofL.P.P., Graphical solution, Simplex algorithm, Big-M method, Two phase method.

[05]

Non linear programming: Single-Dimensional minimization methods: Unimodalfunction, three interval search method, Fibonacci method, Golden mean searchmethod. Unconstrained Optimization Techniques, Descent Methods: Steepest Descentmethod, Conjugate gradient method, Quasi Newton method. Constrained Optimization

Techniques, Interior and exterior penalty methods.[06]

Linear and Nonlinear Optimization: Necessary and sufficient conditions foroptima; convex analyisis; unconstrained optimization; descent methods; steepestdescent, Newtons method, quasi Newton methods, conjugate direction methods;constrained optimization; Kuhn-Tucker conditions, Quadratic programming problems;algorithms for constrained optimization; gradient projection method, penalty andbarrier function methods, Linear programming, simplex methods; duality inoptimization, duals of linear and quadratic programming problems.

[12]

Reference Books:1. Krishnamurthy E.V. and Sen S.K. (1993) Numerical Algorithms: Computations

in Science & Engg., Affiliated East-West Press, New Delhi.2. S.S. Rao (1991) - Optimization Theory and Applications, Wiley Eastern

Limited, New Delhi.3. Schaums Series (1997) Operation Research, Tata Mcgraw Hill.4. S.S. Sastry (1994) Introductory Methods in Numerical Analysis PHI.5. Gerald and Wheatley (2005) Applied Numerical Analysis, PHI.


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6. E. Kreyzig (1999) Advanced Engineering MathematicsJohn Wiley .7. Luenberger D.G. (1984)- Introduction to Linear and Nonlinear Programming, 2nd

edition, Addison Wesley.8. Fletcher R. (2003)- Practical methods of Optimization,2/e Wiley India.9. Arora J (2006), Introduction to Optimum Design, 3/3, Elsevier10.

Fletcher R. (2003)- Practical methods of Optimization,2/e, Wiley India.


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ICE 614: PC INSTRUMENTATION LABORATORY [0 0 3 1]

1. Implementation of full fledged data acquisition system for a temperaturemonitoring and control

2. To acquire and display a continuously changing physical variable in the systemusing Lab View/Mat lab/ Custom software

3. Program to implement online data processing and data logging4. To study and validate the controller type for a temperature control system.5. To implement discrete control strategy using both analog and digital Siemens

PLC.6. To study on the interface of PLC with PC for data acquisition applications.7. To develop stand alone executable signal conditioning files as library files in

Lab View/Mat lab.8. Experimentation of Control loops for Inverted Pendulum.9. Implementation of Digital PID Controller.10.Signal Conditioning Circuit for Temperature Measurement.11.System Identification by the Method of Approximation.12.Controller tuning by Frequency domain analysis.Reference books:

1. Curtis D. Johnson (1993), Microprocessors in Process Control, PHI.1. George Stephanopoulis (2005), Chemical Process Control.2. Caufghner (1991) Process Analysis & Control, Tata Mcgraw Hill.


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ICE 616 : MINI PROJECT/Seminar [0 0 6 2]


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SECOND YEAR

ICE 799: PROJCT WORK


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MANIPAL INSTITUTE OF TECHNOLOGY( A constituent college of Manipal University, Manipal)

Manipal-576104, Karnataka, India

Estd: 1957Approved by AICTE, New Delhi

Phone: 91-820-2571061-75 fax: 91-820-257071 Email:[email protected]

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