ECE 486 (Control Systems) - Spring 2019

Lectures

Excluding the lab manual readings, all associated readings are from Franklin, Powell, and Emami-Naeini, Feedback Control of Dynamic Systems, Prentice Hall.

Lecture notes created by Professors Maxim Raginsky and Daniel Liberzon.

Topic Lecture Notes Associated Readings
Week 1 Jan. 15 Introduction to feedback control lec01 Ch. 1
Jan. 17 State-space models of systems; linearization lec02 Sections 1.1, 1.2, 2.1–2.4, 7.2, 9.2.1
Week 2 Jan. 22 Linear systems and their dynamic response lec03 Section 3.1, Appendix A
Jan. 24 Transient and steady-state dynamic response with arbitrary initial conditions lec04 Section 3.1, Appendix A
Week 3 Jan. 29 System modeling diagrams; prototype second-order system lec05 Sections 3.1, 3.2, lab manual
Jan. 31 Transient response specifications lec06 Sections 3.3, 3.14, lab manual
Week 4 Feb. 5 Effect of zeros and extra poles; Routh-Hurwitz stability criterion lec07 Sections 3.5, 3.6
Feb. 7 Basic properties and benefits of feedback control lec08 Section 4.1, lab manual
Week 5 Feb. 12 Introduction to Proportional-Integral-Derivative (PID) control lec09 Sections 4.1-4.3, lab manual
END OF MATERIAL FOR MIDTERM 1
Feb. 14 Introduction to Root Locus design method lec10 Ch. 5
Week 6 Feb. 19 Root Locus continued; introduction to dynamic compensation lec11 Ch. 5
Feb. 21 Midterm 1
Week 7 Feb. 26 Lead and lag dynamic compensation lec12 Ch. 5
Feb. 28 Lead and lag continued; introduction to frequency-response design method lec13 Sections 5.1-5.4, 6.1
Week 8 Mar. 5 Bode plots for three types of transfer functions lec14 Section 6.1
Mar. 7 Stability from frequency response; gain and phase margins lec15 Section 6.1
Week 9 Mar. 12 Control design using frequency response lec16 Ch. 6
Mar. 14 Control design using frequency response continued; PI and lag, PID and lead-lag lec17 Ch. 6
SPRING BREAK
Week 10 Mar. 26 Nyquist stability criterion lec18 Ch. 6
Mar. 28 Nyquist stability criterion continued; gain and phase margins from Nyquist plots lec19 Ch. 6
END OF MATERIAL FOR MIDTERM 2
Week 11 Apr. 2 Introduction to state-space design lec20 Ch. 7
Apr. 4 Controllability, stability, and pole-zero cancellations; similarity transformation; conversion of controllable systems to Controller Canonical Form lec21 Ch. 7
Week 12 Apr. 9 In-class review rev02 Ch. 7
Apr. 11 Midterm 2
Week 13 Apr. 16 Pole placement by full state feedback lec22 Ch. 7
Apr. 18 Observer design for state estimation lec23 Ch. 7
Week 14 Apr. 23 Joint observer and controller design by dynamic output feedback; separation principle lec24 Ch. 7
Apr. 25 Dynamic output feedback continued lec25 Ch. 7
Week 15 Apr. 30 In-class review
END OF LECTURES
Final May 9, 1:30pm - 4:30pm