| Date |
Topic |
Additional Reading |
In-Class Problems |
| 08/27 |
Introduction to feedback control
Historical overview
|
FPE Ch. 1, Control - A perspective |
|
| 08/29 |
ODEs and LTI systems;Convolution ;Laplace Transform and Transfer Functions |
FPE Sections 1.1, 1.2, 2.1 - 2.4; Old slides |
Problem_lec02;Solutions |
| 09/03 |
Response of Linear ODEs;Method of Partial Fractions |
FPE Section 3.1, Appendix A;Old slides |
Problem_lec03;Solutions |
| 09/05 |
Time domain performance;First-order step response |
FPE Section 3.3 - 3.4, Lab manual;Old slides |
Problem_lec04;Solutions |
| 09/10 |
Second-order step response; Interconnections;Block diagrams |
Old slides |
Problem_lec05;Solutions |
| 09/12 |
DC Gain & Final Value Theorem;Effect of Extra Poles and Zeros;Stability |
FPE Sections 3.5 - 3.6;Old slides |
Problem_lec06;Solutions |
| 09/17 |
Routh-Hurwitz Criterion;Summary of Control Design Issues;Open-Loop Control;Proportional Control |
FPE Sections 4.1, Lab manual;Old slides |
Problem_lec07;Solutions |
| 09/19 |
Proportional-Integral Control;Proportional-Derivative Control |
FPE Sections 4.2 - 4.3, Lab manual |
Problem_lec08;Solutions |
| 09/24 |
Dominant Pole Approximation;PI Tuning for First-Order Systems;PID Tuning for Second-Order Systems |
A classic paper and a relatively recent survey |
Problem_lec09;Solutions |
| 09/26 |
Review of PI Tuning |
|
|
| 10/01 |
Review of PID Pole Placement;Integrator Anti-windup |
|
|
| 10/03 |
Introduction to Root Locus design method;Rules ABC |
FPE Chapter 5 |
Problem_lec11;Solutions |
| 10/08 |
Root Locus Rules DEF;Case Study on Design |
FPE Chapter 5 |
Problem_lec12;Solutions |
| 10/10 |
Steady State Sinusoidal Response;Bode Plots;Example: First-order Systems |
FPE Section 6.1 |
Problem_lec13;Solutions |
| 10/15 |
Bode Plots for 2nd-Order Systems;Frequency Content of Signals;Intro to Bode Plots of Higher-Order Systems |
FPE Section 6.1 |
Problem_lec14;Solutions |
| 10/17 |
Bode Plots for General Systems |
FPE Chapter 6 |
|
| 10/22 |
In-Class Review |
|
|
| 10/24 |
Midterm |
|
|
| 10/29 |
Sensitivity Functions;Gain Margin;Phase Margin |
FPE Chapter 6 |
Problem_lec16;Solutions |
| 10/31 |
Bode Plots for Gain/Phase Margins;Bode Gain-Phase Relationship;Lead Compensator |
FPE Chapter 6 |
|
| 11/05 |
Nyquist Plots;Cauchy's Argument Principle;NyquistStabilityCondition;Margins from Nyquist Plots |
FPE Chapter 6 |
|
| 11/07 |
Nyquist Stability Condition with Varying K;Lag Compensator |
FPE Chapters 5-6 |
|
| 11/12 |
Loop ShapingControl Law Implementation |
|
|
| 11/14 |
State-space models;Lecture 21: Introduction to state-space design |
FPE Chapter 7 |
|
| 11/19 |
Lecture 22: Controllability, stability, & pole-zero cancellations; similarity transformation; canonical forms |
FPE Chapter 7 |
|
| 11/21 |
Lecture 23: Pole placement by full state feedback |
FPE Chapter 7 |
|
| 12/03 |
Lecture 24: Observer design for state estimation |
FPE Chapter 7 |
|
| 12/05 |
Lecture 25: Dynamic output feedback;Linearization of Nonlinear Models |
FPE Chapter 7 |
Practice Problems for Linearization |
| 12/10 |
In-class review |
Good luck! |
|
