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 | | |
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