Readings

The text for this course is:

Amazon logo Nise, Norman S. Control Systems Engineering. 4th ed. Hoboken, NJ: John Wiley, 2003. ISBN: 9780471445777.

SES # TOPICS READINGS
1 Introduction; mechanical elements N1; notes
2 Solving ODEs; cruise control Notes
3 Laplace transforms; transfer functions; translational and rotational mechanical transfer functions N2.1-2.3 and 2.5-2.6
4 Electrical and electro-mechanical system transfer functions N2.4 and 2.7-2.8
5 DC motor transfer function Notes
6 Poles and zeros; 1st order systems N4.1-4.3
7 2nd order systems N4.4-4.6
8 2nd order systems (cont.) Notes
9 More than 2 poles; zeros; nonlinearities and linearization N2.10, 3.7, and 4.7-4.9
10 Examples of modeling and transfer functions Notes
11 Block diagrams; feedback N5.1-5.2
12 Analysis of feedback systems N5.3
13 Quiz 1
14 Stability; Routh-Hurwitz criterion N6.1-6.3
15 Stability analysis N6.4
16 Steady state error analysis N7.1-7.6
17 Root locus introduction N8.1-8.5
18 Root locus example N8.6
19 Design of transient response using root locus N8.7
20 Positive feedback N8.9
21 Examples of design via root locus Notes
22 Steady-state error compensation N9.1-9.2
23 Transient response compensation; transient and steady-state error compensation N9.3-9.4
24 Compensation examples Notes
25 Feedback compensation and its physical realization N9.5-9.6
26 Feedback design examples Notes
27 Quiz 2
28 Frequency response; bode plots N10.1-10.2
29 Bode plot examples Notes
30 Gain margin and phase margin N10.7
31 Design using the frequency response; lead, lag, lead-lag compensators N11.1-11.5
32 The state-space representation N3.1-3.6
33 Solving the state equations in the time and space domains N4.10-4.11
34 State equation examples Notes
35 Stability and steady-state error in state space; controllability and observability N6.5, 7.8, 12.3, and 12.6
36 Optimal control; the minimum time problem Notes
37 Review: modeling and transfer functions Notes
38 Review: root locus, feedback design Notes
39 Review: frequency domain and design Notes