Texas A&M University

Department of Mechanical Engineering

Fall 2019

MEEN 431: Advanced System Dynamics and Controls

Instructor:
Name Sections Time Location e-mail
Dr. Pilwon Hur 500 (Lecture) MWF 9:10-10:00 CVLB 421 [email protected]

Office Hours:
Instructor Office Contact Hours
Dr. Pilwon Hur MEOB 222 [email protected] MW 10:00-11:00 am or by appointment
Jianglei Qin JCAIN 408 [email protected] TTh 3-5pm or by appointment

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. Applied Dynamics, by Haim Baruh, CRC Press, 2014
2. Feedback Control of Dynamics Systems, 7th by Franklin, Powell, and Emami-Naeini, Prentice
Hall, 2014
3. Dynamics: Theory and Applications by Kane and Levinson, McGraw-Hill Book, 1985
4. Dynamics in Engineering Practice, 10th by Childs, CRC Press, 2011
5. Vector Mechanics for Engineers: Dynamics, 12th by Beer and Johnston, McGraw-Hill Book,
2019
6. An Introduction to Dynamics, 4th by McGill and King, Tichenor Publishing, 2003
7. MEEN431 Lecture Note by Dr. Rathinam
8. MEEN408/612 Lecture Note by Dr. Hur

Course Description: Unified framework for modeling, analysis, synthesis, design, simulation and control
of mechanical systems in 3D space: Newtonian mechanics, rigid body dynamics, Lagrangian mechanics
with and without constraints, and control system design. Three credit hours (3-0).

Course Goals: To build upon the fundamentals of analytical dynamics and feedback control to:
1. Derive equations of mechanical multibody dynamics in 3D space (using Mathematica)
2. Predict the dynamic behavior of the multibody systems by analytical methods and computer
simulation (using Python)
3. Synthesize controllers to achieve the desired performance goals (Linearized model will be used)

Learning Objectives: To build upon the fundamentals of analytical dynamics and feedback control to:
1. Completely understand the particle dynamics (review).
 2. Understand the concepts of reference frame, generalized coordinates, generalized speeds, degrees
of freedom, and constraints.
3. Understand vector differentiation, angular velocity in different reference frames.
4. Understand how kinematics and kinetics are linked, and the concept of mass distribution.
5. Understand the concept of virtual work principle, static and dynamic equilibrium, and
D’Alembert’s principle.
6. Understand Lagrange dynamics with and without constraints
7. Understand rotation of reference frame, and direction cosine.
8. Understand the stability of the linearized system, and synthesize controllers to meet the criteria
for the stability and performance.

Grading:
1. Homework: 40%
2. Quiz: 30%
3. Projects: 30%

Software Package:
Throughout the course, we will use several software packages to facilitate the derivation of equations of
motion and numerical simulation. For derivation of equations of motion, we will use HurToolbox in
Mathematica (See below). For numerical simulation, we will use Python. As you may know, there are
several options for numerical simulation including Python (using NumPy), Julia, Matlab. Since most of
MEEN students took MEEN 357 (Engineering Analysis for Mechanical Engineers), I opted to use Python.

HurToolbox:
Throughout the course, HurToolbox will be used. HurToolbox is a package for Mathematica. HurToolbox
is developed by Dr. Hur and is useful to derive equations of motion of 3D rigid bodies. HurToolbox
facilitates the learning of 3D kinematics and kinetics in the framework of both Newton/Euler mechanics
and Euler/Lagrange mechanics since HurToolbox uses vector notations as in pencil-paper type lectures.

Homework: There will be about 50 homework problems throughout the semester. These problems will
be posted on eCampus up front (i.e., 1st or 2nd week). The due date will be the end of the semester.
Majority of these problems will be automated problems, meaning that students will type in the answers on
eCampus and will be graded automatically. Student will have 5 attempts for each of these automated
problems. However, please note that the numbers in the same automated problem will change for each
attempt. If students couldn’t get the automated problems, they may submit the hand-written (or typed)
work for partial credits. It is students’ responsibility to manage the time for homework so that students
can follow up the course materials and they can submit the homework before the due date.

Quiz: There will be about 10-12 in-class quizzes. It is recommended that you bring your laptop since
each quiz can be submitted via eCampus. If you cannot use Laptop for some reasons, that is totally fine.
You can submit it on paper, as well. At the end of semester, two of the least-scored quizzes will be
dropped for your convenience. I will post on eCampus whether there will be a quiz or not before the start
of the lecture.

Lecture Note: All annotated lecture notes will be posted on eCampus.

Project: Consider a system of rigid bodies in a 3D space. Examples include rolling coin, gyroscope,
spinning top, flying football, satellite with a reaction-wheel altitude control system, etc. You can also
come up with your own examples upon the approval of the instructor. The project will include i)
derivation of the equations of motion, ii) analysis and numerical simulation with various initial conditions
and parameter variation iii) animation of the system, iv) simple control of the system. You are allowed to
work in groups of up to two. No late project report will be accepted. Specific instructions will be provided
during the semester.

Tentative Schedule
Newtonian Mechanics: Dynamics of Particles (Review)
Week 1: Kinematics of particles, reference frame, various coordinate systems
Week 2: Kinetics of particles, impulse and momentum principle, work and energy principle, angular
momentum
Numerical Toolboxes
Week 3: Mathematica (and HurToolbox), Python
Newtonian Mechanics: Dynamics of Rigid Body
Week 4: Vector analysis, kinematics of rigid body, angular velocity, angular acceleration, linear velocity,
linear acceleration
Week 5: Orientation, direction cosine matrix, system of particles, generalized coordinates, degrees of
freedom, constraints
Week 6: Distribution of inertia, angular momentum, kinetics of rigid body, examples
Lagrangian Mechanics
Week 7: Kinetic energy, potential energy, virtual work principle, D’alembert’s principle
Week 8: Derivation of Lagrange’s equation with and without constraints
Week 9: Examples of Lagrangian mechanics

Linear System Theory and Control

Week 10: Phase portrait, matrix exponential, stability analysis
Week 11: Nyquist stability criterion, loop shaping
Week 12: State feedback, practical examples
Week 13: Practical examples
Week 14: Project review

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 one’s 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”