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All the readings in this section refer to book mentioned below:

Van de Vegte, John. Feedback Control Systems. 3rd ed. Prentice Hall, 1994.

LEC #TOPICSREADINGSKEY DATES
Module 1: Control System Analysis
1Course Introduction

Course Administration, Learning Objectives, Math Resources, Linear Algebra Quiz
1.1, 1.2, 1.3
2Introduction to Control Systems

First Classification and Examples of Control Systems (Open and Closed Loop), Disturbances, Parameter Variations, Linearized Models and Block Diagrams
1.1, 1.2, 1.3Problem Set #1 Out
3Control System Analysis and Design

Control System Analysis and Design, The Performance of a System, Motivations for Feedback, The Concept of Gain, Transfer Functions, Block Diagrams
1.2, 1.4, 1.7 (to top of page 14), 3.7(Chapters 2 & 3 for reference), lecture notes
4Disturbances and Sensitivity

The Performance of Feedback Systems, Motivations for Feedback, Sensitivity to Parameter Variations and Model Uncertainty, Sensitivity Functions, Effects of Disturbances
4.1, 4.2
5Steady-State Errors

Steady-State Errors, The Importance of Integrators as Fundamental Building Blocks and the Steady-State Disposition of Information in a Closed Loop System
4.3, lecture notesProblem Set #1 Due

Problem Set #2 Out
6S-Plane, Poles and Zeroes

Transient Performance and the S-Plane, Poles and Zeroes, Graphical Determination of Residues
1.7 (from top of pg. 14), 1.8, 1.9
7Transient Response and Stability

System Stability, Pole Location and Time Response, First and Second Order System Signatures
4.4
8Dominant Modes

Concept of a Dominant Mode, Invading Poles, High-Order Systems, The Importance of Magnitude of Residues and Time Constants of Terms
1.8, 4.4, lecture notesProblem Set #2 Due

Problem Set #3 Out
9Transient Response and Performance

Transient Response Performance Criteria (aka Metrics), Sources of System Zeros, Feedback Poles and Closed Loop Zeros
5.1, 5.2
10Effects of Zeroes

The Effects of Adding a Zero to Various Pole Patterns, The Long Tail
5.3Problem Set #3 Due

Lab #1 Out
Module 2: State-Space Methods
11State Space

The Concept of System State, State Vector Definition and State Space Representation of LTI Systems
11.1, 11.2
12State Space Modeling

State Space Model for an nth Order Differential Equation, State Space Models for Transfer Functions, Examples
11.3
13More State Space Modeling and Transfer Function Matrices

Transfer Functions with Zeros, Laplace Transforms for Vector/Matrix Differential Equations
11.4Lab #1 Due

Problem Set #4 Out
14Quanser Model and State Transition Matrices

State Space Model of the Quanser, Homogeneous Solution of State Differential Equations and State Transition Matrices
11.5
15Solutions of State Space Differential Equations

General Solution of State Space Differential Equations, Quanser Example for Constant Input
lecture notes
16Controllability

Simple Examples of Controllable and Uncontrollable Systems, Formal Definition of Controllability and Controllability Conditions for Single Input Systems
11.7Problem Set #4 Due
17Quiz 1

Lectures 1-15
18Controllability Continued

Controllability for Systems with Multiple Inputs
lecture notesProblem Set #5 Out
19State Space Design

Pole Assignment with Full State Feedback, Design with Sensor Feedback
12.1, 12.2
Module 3: Time Domain System Design
20Proportional Control

Effects of Proportional Control with First, Second and Third Order Systems, The Case for a Better Controller
lecture notes
21Control System Design (Time Domain)

General System Analysis in the Time Domain - Introduction to the Root Locus Method, Angle and Magnitude Conditions
6.1, 6.2Problem Set #5 Due

Problem Set #6 Out
22Root Locus Rules

Root Locus Rules
6.3
23Root Locus Examples

Root Locus Examples
6.4
24Root Locus Design

Root Loci and System Design, Pole-Zero Cancellation, Motor Position Servo with Velocity Feedback, Phase-Lead Compensator Design Using Root Loci
6.5, 6.6Problem Set #6 Due

Problem Set #7 Out
25Compensator Design

Phase Lag Compensator Design Using Root Loci, Introduction to PID Control Using Root Loci
6.7, 6.8
Module 4: Frequency Domain System Design
26Frequency Response Analysis

Steady State System Responses to Sinusoidal Inputs, Second Order System Example
7.1, 7.2
27Polar Plots

First and Second Order Polar Plots, Other Examples
lecture notesProblem Set #7 Due

Lab #2 Out
28Principle of the Argument and the Nyquist Stability Criterion

Development of the Nyquist Stability Criterion
7.3
29Nyquist Examples

Examples
7.4Lab #2 Due
30More Nyquist Exampleslecture notes
31Quiz 2

Lectures 16-27
Problem Set #8 Out
32Gain and Phase Margins

The Gain and Phase Margin Criteria and Examples
7.6
33The Gain-Phase Plane and Nichols Charts

Use of Nichols Charts and Examples
8.5
34Open and Closed Loop Behavior and the Second Order System Paradigm

Frequency Response Criteria Based on Second Order System Paradigm
8.3Problem Set #8 Due

Problem Set #9 Out
35Bode Diagrams
36First and Second Order System Bode Diagrams
37Compensation and Bode DesignProblem Set #9 Due
38More Bode Design
39Train Lecture

 








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