The text for this course is:
Nise, Norman S. Control Systems Engineering. 4th ed. Hoboken, NJ: John Wiley, 2003. ISBN: 9780471445777.
Course readings.
| 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 |
