FACULTY OF ENGINEERING, BUILT ENVIRONMENT

AND INFORMATION TECHNOLOGY

MECHANICAL AND MECHATRONICS
DEPARTMENT:
ENGINEERING

PROGRAMME: Bachelor in Engineering Technology

(Mechanical Engineering)

MODULE NAME: Control Systems III

MODULE CODE: MCS32A

NQF LEVEL: 7
CREDITS: 14

COMPILED BY: Mr J Nsengimana

DATE REVISED: 2023

CONTENTS
LEARNER GUIDE
 CONTENTS

1. MODULE OVERVIEW ............................................................................ 3

1.1 Purpose Statement ...........................................................................................3

1.2 Module Information ...........................................................................................3
1.3 Knowledge Areas covered in this Module .........................................................3
1.4 Graduate Attributes to be assessed in this module ..........................................3
1.5 Module Syllabus Outline ...................................................................................4
1.6 Module Learning Material..................................................................................4
1.7 Information about the lecturer ...........................................................................4

2. MODULE LEARNING OUTCOMES............. Error! Bookmark not defined.

2.1 Calculation of Module Credits and Notional Hours ...........................................4

2.2 Module Learning Units and Notional Hours ......................................................6
2.3 Semester Programme for the Module ...............................................................7
2.4 Assessment of Module Learning Units .............................................................8
2.5 Assessment Procedure .................................................................................. 12
2.6 Graduate Attributes Assessed in this Module ................................................ 12
2.7 CUT Graduate Attributes and Action Verbs Used in Assessments ............... 12
2.8 Aligning CUT Graduate Attributes to ECSA Graduate Attributes .................. 13
2.9 Revised Bloom’s Taxonomy used in the formulation of questions ................ 14

3. LEARNING COMPONENT ....................................................................15

3.1 Guidelines for improving performance in the module .................................... 15

4. COMPUTER LABORATORY COMPONENT .........................................16

4.1 Computer Laboratory/Practical Submittal and Identification Sheet ............... 17

5. SAFETY COMPONENT .........................................................................18

5.1 General Safety ............................................................................................... 18

5.2 Hand and Power Tools ................................................................................... 18

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1. MODULE OVERVIEW

1.1 Purpose Statement

The module of Control Systems III in the programme of bachelor’s in engineering

technology (Mechanical Engineering), aims at providing learners with an advanced
understanding of control systems used in electromechanical, hydraulic and
thermodynamic systems. The application of Matlab will support the practical and analytical
understanding of control of mechanical systems.

1.2 Module Information

Learning area Mechanical Engineering

Module Control Systems III
Module code MCS32A
NQF level 7
Credits 14
Notional hours 140
Contact sessions Four (4) theory periods per week, as indicated on the
timetable. One period=40 minutes
Assessments Two computer laboratories (practical works) followed by
written reports, Marking Rubrics will be provided with the
practical works. One Class Test (T1) and One Main Test
(T2). One Semester examination.

1.3 Knowledge Areas covered in this Module

ECSA Credits in Knowledge Area

4.Engineering Design

Module Module Name NQF Module 5. Computing and IT

2. Natural Sciences

Code Level Credits 6. Complementary

1. Mathematical

3. Engineering

& Synthesis
Sciences

Sciences

Studies

MCS32A Control systems III 7 14.5 10.5 4

1.4 Graduate Attributes to be assessed in this module

No Graduate Attributes will be assessed in this module.

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 1.5 Module Syllabus Outline

The following topics will be covered in this learning module:

Control Systems III

• Transfer functions (linear systems, rotational systems)
• Time response of control systems
• System stability (Routh- Hurwitz criterion, root locus)
• Compensation of control systems: PI and PD and PID controllers
• Frequency response of control systems (Bode plots)

1.6 Module Learning Material

Prescribed Textbook: 1. Norman S. Nise, 2008. Control System

Engineering. John Wiley & Sons, Inc. 6thed (or
any edition)
Other recommended reading: 2. Dukkipati R.V, 2005, Control Systems, Alpha
Science International Ltd, Harrow, UK.
3. Dukkipati R.V, 2010, Analysis and Design of
Control Systems using Matlab, New Age
International (P) Limited, 2nd ed.

1.7 Information about the lecturer and Lecturer’s Assistant

Lecturer’s Name: Mr Joseph Nsengimana

Office: BHP BUILDING, Room 167
Telephone: (051) 507 3894
E-mail: jnsengimana@cut.ac.za
Lecturer’Assistant and SI Mr. JV Makhubela
Name
Office: BHP BUILDING, Room 149
E-mail: jmakbubela@cut.ac.za

Postal address: Central University of Technology, Free State

Private Bag X20539, Bloemfontein, 9300, South Africa
Consulting Hours: Student to send an email requesting the possibility to consult
on a specific date and time.

This module will be presented according to the outcomes-based education philosophy.

The lecturer will use a variety of instructional techniques and methods in striving towards
achieving the critical cross-field outcomes as well as the general aims of the module and
the specific outcomes.

1.8 Calculation of Module Credits and Notional Hours

The minimum notional hours required by a student for successful completion of this
module, as well as the credits allocated to the module, are calculated from the formula
supplied by HESQSF (Refer to ECSA document E-01-P and E-24-STA):

4
Notional Hours = W (LTLML + tTTMT) + PTPMP + X + ATA

Credits = Notional Hours / 10

Where W is the number of weeks per semester, L and t the number of online lecturing and
tutorial periods per week respectively, P is the total number of practicals (virtual or
conducted on campus) and A the number of assignments per semester. X is the number
of self-study content and TX duration of completing the self-study content in hours. Then
TL, TT, TP and TA are the duration of a lecturing period, a tutorial period, a practical period
and an assignment in hours, respectively, while ML, MT and MP represents a work factor
for lectures, tutorials and practicals respectively.

The blended learning notional hours and associated credits for Control systems III,
together with an explanation of the work factors, are calculated below:

Scheduled Contact Factor X

Online Lecture Online Tutorials Practicals Assign

Code Course Weeks Evaluation Self-study # credit
40 min period = 0.67h 40 min period = 0.67h 1 periods = 0,67h
Per Week Per Semester
L 4 t 0 P 8 Time (h) 6 No of Topics 0 A 0
MCS32A Control Systems III 11 14,59
TL 0,67 TT 0,67 TP 0,67 Factor 4 Time (h) 0 TA 0
ML 3,5 MT 0 MP 3,5

Notional Hrs 103 0 19 24 0 0 145,9

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1.9 Module Learning Units and Notional Hours

• Notional
Unit description • Learning area activity
hours
Transfer functions (linear systems, Lectures
rotational systems)
• Revision of Laplace
transformations
• Introduction to Control systems
• Definition of a Transfer function
• Mathematical modelling of • 40
mechanical and electromechanical
control systems (translational and
rotational systems)
• Calculation of a transfer function of
a control system
• Representation of control systems
with block diagrams
• Reduction rules of block diagrams Formative Test 1 (T1) • 4

Time response of control systems Lectures • 32

• First order control systems
• Second order control systems
• Stability of control systems
• Root locus
• (Routh- Hurwitz criterion, root locus) • Computer laboratory 1 (P1) • 7
Compensators (Controllers) of • Lectures • 15
control systems
• Proportional –plus-Integral (PI)
compensators (controllers)
• Proportional –plus-Derivative (PD)
compensators (controllers)
• Proportional–Integral–
Derivative (PID)
o • Computer laboratory 2 (P2) • 7
• Formative Main Test (T2) • 8
Frequency response techniques Lectures
• 15
• Magnitude frequency response
• Phase frequency response
• Asymptotic approximation
• Bode plots

Computer laboratory 3 (P3) • 0

Main Assessment • 12
• • Total • 140

6
 1.10 Semester Programme for the Module

Week Unit description References

1 Norman S. Nise, 2008. Control
System Engineering. John Wiley &
Sons, Inc. 6thed, p. 35-44.
Revision of Laplace transformations
Dukkipati R.V, 2005, Control
Systems, Alpha Science International
Ltd, Harrow, UK, p. 63-123.

Introduction to Control systems Norman S. Nise, 2008. Control

System Engineering. John Wiley &
2 Definition of a Transfer function Sons, Inc. 6thed, p. 44-45.

Mathematical modelling of mechanical Norman S. Nise, 2008. Control

translational systems and Calculation of System Engineering. John Wiley &
transfer function Sons, Inc. 6thed, p. 61-84, 100-105.

3 Mathematical modelling of mechanical Dukkipati R.V, 2005, Control

rotational systems and Calculation of Systems, Alpha Science International
transfer function Ltd, Harrow, UK, p. 113-123.

4 Mathematical modelling of
electromechanical (translational/ rotational
systems with gears) and Calculation of
transfer function

5 Representation of control systems with Norman S. Nise, 2008. Control

block diagrams System Engineering. John Wiley &
Reduction rules of block diagrams Sons, Inc. 6thed, p. 235-297.

Non zero First order systems Dukkipati R.V, 2005, Control

Systems, Alpha Science International
Performance indicators of First order Ltd, Harrow, UK, p. 181-247.
systems Second order systems

6 Canonical form of second order systems. Norman S. Nise, 2008. Control

Performance indicators of under-damped System Engineering. John Wiley &
second order systems Sons, Inc. 6thed, p. 161-190.

Rise time, Stabilizing time, Peak time, time Dukkipati R.V, 2005, Control
(output) response Systems, Alpha Science International
Ltd, Harrow, UK, p. 255-268.
7 Steady state error
Norman S. Nise, 2008. Control
System Engineering. John Wiley &
Stability of control systems
Sons, Inc. 6thed, p. 339-385.

7
 8 Norman S. Nise, 2008. Control
System Engineering. John Wiley &
Root locus Sons, Inc. 6thed, p. 301-336, 387-
414.

Dukkipati R.V, 2005, Control

Routh- Hurwitz criterion Systems, Alpha Science
9 Compensators (Controllers) of control International Ltd, Harrow, UK, p.
systems 330-335.

Proportional –plus-Integral (PI)

compensators (controllers)
10 Norman S. Nise, 2008. Control
Proportional–Integral–Derivative (PID) System Engineering. John Wiley &
Frequency response techniques Sons, Inc. 6thed, p. 455-532.
Magnitude and Phase frequency responses
11
Asymptotic approximation Dukkipati R.V, 2005, Control
Systems, Alpha Science International
Ltd, Harrow, UK, p. 269-272.
Norman S. Nise, 2008. Control
Bode plots System Engineering. John Wiley &
Sons, Inc. 6thed, p. 533-559.

1.11 Assessment of Module Learning Units

1.11.1 Unit 1: Transfer functions (linear systems, rotational systems)

Learning area outcome Teaching and Assessment Assessment GA Competence
learning activity method and criteria assessed indicator
instrument
Subject of Control Systems as • Interactive Method: Students are able to:
a scientific and engineering online lectures Test 1 • Calculate the
discipline. are presented Instruments: transfer function
• Revision of Laplace and students Question of mechanical/
transformations Primary are given the paper and electromechanical
classification of solid chance to memorandum systems.
materials present their • Use reduction
• At least 12 Laplace transform answers to rules to calculate
theorems are revised descriptive the overall
• Applications of linearity, questions. transfer function
differentiation and integration • Students need of a complex
theorems to to work through control system
mechanical/electromechanical and master the
control systems content posted
• Modelling of control systems on eThuto for
with block diagrams this unit
• Students are
provided e-
notes on Ethuto.
• Students are
encouraged to
solve
independently
problems on
pages 100-104

8
Learning area outcome Teaching and Assessment Assessment GA Competence
learning activity method and criteria assessed indicator
instrument
from Textbook
No 1.
• Representation
of control
systems with
use of block
diagrams

1.11.2 Unit 2: Time response of control systems

Learning Teaching and Assessment Assessment criteria GA assessed Competence
area learning activity method and indicator
outcome instrument
First order • Interactive online Method: Students are able to:
control lectures are • Test 1 • Describe the
systems presented and
Instruments: characteristics of a
students are given
Question
the chance to First order control
paper and
present their
memorandum system (Time
answers to
• Computer
descriptive constant, Rise time,
questions. laboratory 1
stabilizing time, final
• Students need to
(P1)
work through and value)
master the content
• Use traditional
posted on eThuto
for this unit methods (integration,
• Students are
differentiation) to
provided e-notes on
Ethuto. calculate the time
• Students are response and the final
encouraged to make
complementary value and compare
notes during with the values
lectures.
obtained using
Simulink tool in Matlab.
• Use partial fractions
and inverse Laplace
transform to establish
the output (time)
response)
Second • Class notes are Method: Students are able to:
order posted on ethuto • Test 1 or Test • Describe the
control • Worked examples
2 characteristics of a
systems are done in class
and extra example Instruments: second order control
posted on ethuto. Question paper
system (Natural
• Questions are given and
to students for self- memorandum frequency, damping
assessment. • Computer
ratio, Peak time, Rise
laboratory 1
time, Stabilizing time,

9
Learning Teaching and Assessment Assessment criteria GA assessed Competence
area learning activity method and indicator
outcome instrument
(P1)- Percentage overshoot,
Submission final value)
of a report • Use traditional
methods (integration,
differentiation) to
calculate the time
response and the final
value and compare
with the values
obtained using
Simulink tool in Matlab.
• Use partial fractions
and inverse Laplace
transform to establish
the output (time)
response)

1.11.3 Unit 3: Stability of control systems

Learning area Teaching and Assessment Assessment GA Competence

outcome learning activity method and criteria assessed indicator
instrument
• Criteria of • Interactive Method: Students are able to:
online lectures • Main Test • Identify zeros and
stability of a
are presented
Instruments: poles of a transfer
control system and students
Questions
are given the function
• Zeros and poles paper and
chance to
memorandum • Characterize the
of open-loop present their
• Computer
answers to control system on
and closed loop
descriptive laboratory 2
its stability (or
transfer questions
(P2)-
• Students are instability)
function.
provided e- Submission
• Manually construct
• Root locus notes and
of report
worked the root locus of
construction
examples on
simple control
Ethuto.
• Students are system, and use
encouraged to
Matlab for
make
complementary complex control
notes during
system.
lectures.

10
 1.11.4 Unit 4: Compensation of control systems
Learning area Teaching and Assessment Assessment criteria GA Competence
outcome learning activity method and assessed indicator
instrument
Introduction to • Interactive Method: Students are able to:
compensation online lectures Main • Design a PI, PD and
(controllers) are presented Assessment PID controller to meet
and students Instruments: specification of the
are given the Question system
chance to paper and • Use root locus criteria
present their memorandum to assess the
answers to performance of the
descriptive compensated system
questions
• Students are
provided e-
notes and
worked
examples on
Ethuto.
• Students are
provided e-
notes and
worked
examples on
Ethuto.
• Students are
encouraged to
work on extra
tutorials for self-
assessment
complementary
notes during
lectures.

1.11.5 Unit 5: Frequency response

Learning area Teaching and Assessment Assessment criteria GA Competence
outcome learning activity method and assessed indicator
instrument
Frequency • Interactive Method: Students are able to:
response for online lectures Main • Manually produce
Magnitude and are presented Assessment asymptotic
Phase and students Instruments: approximation of
Bode plots are given the Question simple control
chance to paper and systems, and
present their memorandum • Use Matlab command
answers to for Bode plots
descriptive
questions
• Students are
provided e-
notes and
worked
examples on
Ethuto.

11
Learning area Teaching and Assessment Assessment criteria GA Competence
outcome learning activity method and assessed indicator
instrument
• Students are
provided e-
notes and
worked
examples on
Ethuto.
• Students are
encouraged to
work on extra
tutorials for self-
assessment
complementary
notes during
lectures.

1.12 Assessment Procedure

Assessment of the gained knowledge of the student is done by taking into account the
following assessment components and associated weighting:

Type of assessment Weight (%)

Assessment criteria Calculation procedure
Test 1 (T1) 25
Test 2 (T2) 40
Computer Laboratory Practical 1 (P1) 17.5
Computer Laboratory Practical 2 (P2) 17.5
Course Mark (CM) 0.25T1+ 0.4T2+0.35(P1 + P2)
Final Mark (FM) 0.5CM + 0.5EM
A student must obtain a minimum CM of 40% to be allowed to write the Main Assessment. It is a further
requirement that the student should obtain at least 50% on average for P 1 and P2 to be able to pass
the subject and qualify for the Main Assessment. To qualify for the Re-assessment a student must
obtain a final mark of between 45% and 49%. The examination mark (EM) is the mark which a student
obtains during the Main Assessment at the end of the semester.

1.13 Graduate Attributes Assessed in this Module

No Graduate Attributes will be assessed in this module.

1.14 CUT Graduate Attributes and Action Verbs Used in Assessments

CUT Graduate Attributes Practical Definitions

Sustainable development Ensuring a sustainable curriculum
Incorporating aspects of sustainability in the content.
Innovation and problem Promoting the iUSE model (investigate, understand,
solving solutions and evaluate).
Entrepreneurship Featuring aspects relating to entrepreneurship.

Community engagement Encouraging students to benefit their communities.

12
Technologically literate Efficiently using computer hardware and software.
Numerate Performing correct calculations and equation
manipulations.
Teamwork Nurturing group work of two or more students.

Communication Promoting good written and oral communication.

Citizenship and global Including aspects relating to citizenship, leadership or

leadership management.

Technical and conceptual Operating specific equipment or apparatus effectively.

competence

1.15 Aligning CUT Graduate Attributes to ECSA Graduate Attributes

CUT Graduate Attribute ECSA Graduate Attribute

Sustainable development Sustainability and Impact of Engineering Activity
Innovation and problem Engineering Design
solving Problem Solving
Investigations, experiments and data analysis
Entrepreneurship Independent Learning Ability
Community engagement Engineering Professionalism
Technologically literate Engineering methods, skills, tools, including Information
technology
Numerate Application of scientific and engineering knowledge
Teamwork Individual, Team and Multidisciplinary working
Communication Professional and Technical Communication
Citizenship and global Engineering Professionalism
leadership Individual, Team and Multidisciplinary working
Technical and conceptual Engineering methods, skills, tools, including information
competence technology
Engineering Design
Problem Solving

13
 1.16 Revised Bloom’s Taxonomy used in the formulation of questions

Objective Definition Illustrative verbs Level

Creating Designing Generate; combine; HOq- Highest level

experiments, devices, construct; formulate; dependent on
process, and products propose; assemble; students reasoning
design; predict; ability
improve

Evaluating Choosing from among Assess; justify; HOq

alternatives and conclude; evaluate;
justifying the choice, verify; confirm;
optimizing processes, determine
making judgments
about the
environmental impact
of engineering
decisions, resolving
ethical issues
dilemmas
Analysing Solving well-defined Distinguish; compare; HOq
problems, developing contrast; differentiate;
process models and classify; categorize;
simulations, analyse
troubleshooting
equipment and system
problems

Applying Applying course Change; HOq

material to solve demonstrate; modify;
straightforward solve; use; show;
problems calculate

Understanding Paraphrasing text, Explain; convert; LOq

explaining concepts in estimate; rearrange;
jargon-free terms summarize; derive;
describe; review;
relate

Remembering Repeating memorised Name; list; state; LOq - Lowest level

information define; describe; dependant on
label; sketch; student’s memory
discuss; identify; ability
select; insert;
complete

14
2. LEARNING COMPONENT

2.1 Guidelines for improving performance in the module

Attend all classes. Prepare for each lecture by using this learning guide. Unless you ask
questions, the lecturer will assume that you understand all the theory and will commence
with applications. If you do not understand, bring it to the lecturer’s attention as soon as
possible by asking specific questions.
During the years, it has been proven that the following guidelines will result in academic
success:
• Read the appropriate section in your learner guide carefully before attending
the lecture.
• You should study the completed section in depth, as soon as possible after the
lecture, but at least before the following lecture.
• You must complete all the relevant homework exercises, assignments or
questions for each lecture topic. Spend more time thinking about the problem
and referring to resources mentioned in the learning units. Try to answer the
question to the best of your ability. If you have made any mistake, small as it
may be, correct it in class and if you are still not sure about the solution, ask the
lecturer for further explanation.
• Concentrate on understanding the logic of the module instead of concentration
entirely on the technique used.
• Work out all class examples, self-study work and laboratory work thoroughly
and completely.
• Test your increasing knowledge daily.

When answering any assessment:

• Read the question carefully; make sure you know what is being asked.
• Then, stop and think.
• Write your answer systematically and as neat as possible.
• Show all your calculations at all times, i.e. how you arrived at the solution.
• Make sure that you manage your time effectively, in other words, do not spend
more time on one question than is available. Work fast and accurately!
• Work through tutorials, previous test and examination papers, in order to get
used to the style and standard of the papers.

15
3. COMPUTER LABORATORY COMPONENT
Attendance at laboratories is compulsory and students are advised to spend some time in
the computer laboratories for preparation and developing skills in the use of equipment
and software packages for solving well-defined problems. The laboratory weights and their
due week numbers for the module are given in section 2.2 and 2.4. Each laboratory work
is important since it forms part of the assessment of the module.
It is advisable to be registered with Matlab for Academia. To get started, use the
following link:
https://ch.mathworks.com/academia/matlab-campus.html?s_tid=acb_mlcampus

The possible the topics for Computer laboratory works are shown below.

Practical Possible topics

works
Computer • Simulink Modelling of Electromechanical systems
Laboratory • Simulink Model of a Vehicle for Cruise Control with linear friction force.
1 • Simulink of a turbine rotor for control of angular velocity with a linear
damping torque.
Computer • Simulink Model of a Vehicle for Cruise Control with non-linear friction
Laboratory force (Part 2)
2 • Simulink of a turbine rotor for control of angular velocity with nonlinear
damping torque
Computer • Root locus for control of a robotic manipulator arm of a Mars Rover
Laboratory • Stability of a Robotic Arm using the Root Locus Method.
3

Notes: The lecturer can still change the topics according to the relevance of new
updates for the semester.

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 3.1 Computer Laboratory/Practical Submittal and Identification Sheet

RESULT%

Student number(s):

Surname and initials:

Programme: B Eng Tech (Mechanical Engineering)

Module name:

Module code:

Assignment/project number:

Due date: 2 0 2 1 M M D D

Lecturer:

DECLARATION OF OWN WORK:

I, ______________________________________________________________, student
number______________________________________, hereby declare that the content of this
assignment/project is my own work, as defined and constituted in the Rules and Regulations of the
Central University of Technology, Free State (Please consult the Programme Guide of the Department).

Signed: ________________________________
Date: ________________________________

17
4. SAFETY COMPONENT

4.1 General Safety

Close attention should be given to all aspects of safety throughout training, and the highest
possible standards insisted upon. There is a special need to emphasize the fundamental
safety rules of behaviour, dress and practice when the trainee enters the workshop.
Instructors have a particular responsibility to set a good example and to check without
delay any departure from safe working practices by trainees. Individual responsibilities in
respect of the safety of all persons in the vicinity of the working area must be clearly
understood by everyone. It is essential to develop safe working habits.

4.1.1 What to do
• Think before you act.
• Ask if in any doubt.
• Help to keep gangways clear.
• Keep your bench and working area tidy.
• Find out the position and type of fire appliances available.
• Report all accidents to your supervisor

4.1.2 What not to do

• Do not run.
• Do not play practical jokes.
• Do not touch any equipment or try out machines unless authorized to do so.
• Do not leave rubbish lying about.
• Do not walk under suspended loads.
• Do not attempt to give first aid unless you are competent to do so.
• Do not throw things.

4.1.3 Further points to consider

• Wear your overalls buttoned up.
• Roll up your overall sleeves above the elbows or button up the cuffs.
• Keep hair short or wear a cap.
• Obey all safety rules and signs.
• Report any accident, however slight.
• Have all injuries properly treated, however minor.
• Do not wear torn overalls.
• Do not wear rings or a watch when working.
• Do not take chances
• Switch off the computer before you leave the computer laboratory

4.2 Hand and Power Tools

All tools must be used in a safe manner, in particular sharp tools such as knives or
screwdrivers. These should be held in such a way as to minimize the chances of cuts to
the user if they slip from the work. The snipping of wires with side-cutters can lead to bits
of wire entering the eye and therefore goggles should be worn for such work. These tools

18
 must be electrically safe and should be inspected regularly for cable wear and loose
connections. They should never be used without a guard or some form of protection fitted
and adjustments to these tools should only be made once they have been disconnected
from the supply. Soldering irons should always be kept covered to prevent accidents
leading to burning of the skin or of the flex of the soldering iron. The work being soldered
or de-soldered should be securely gripped and the work should take place on a heat-proof
mat. Excess solder should be wiped off using a wet cloth or sponge and should not be
flicked off. Care should also be taken to avoid breathing in the fumes of the flux.

4.2.1 Protective Clothing

Whether or not this is worn depends on the regulations and on the work taking place in
the workshop. Long hair should be tied back and if hair preparation is used the hair should
also be covered whenever working close to a naked flame.

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