Principles of Automatic Control

Lecture Notes

LEC #	TOPICS	LECTURE NOTES
1	Why automatic control? Categorization of control systems	Lecture notes 1 (PDF)
2	Block diagrams, the effect of feedback	Lecture notes 2 (PDF)
3	Modeling principles	Lecture notes 3 (PDF)
4	Block diagram manipulations, Mason’ rule	Lecture notes 4 (PDF)
5	Dynamic response of closed-loop systems	Lecture notes 5 (PDF)
6	Time-domain specifications	Lecture notes 6 (PDF)
7	Effect of zeros	Lecture notes 7 (PDF)
8	The Routh criterion	Lecture notes 8 (PDF)
9	Effect of noise, steady-state errors	Lecture notes 9 (PDF)
10	PID control	Lecture notes 10 (PDF)
11	The root locus method	Lecture notes 11 (PDF)
12	Root locus rules	Lecture notes 12 (PDF)
13	Root locus rules, lead compensation	Lecture notes 13 (PDF)
14	Lag compensation	Lecture notes 14 (PDF)
15	Zero degree root locus	Lecture notes 15 (PDF)
16	Frequency response design	Lecture notes 16 (PDF)
17	Bode plot problems	Lecture notes 17 (PDF)
18	Bode plots (cont.)	Lecture notes 18 (PDF - 1.6MB)
19	Complex poles and zeros, unstable poles, and non-minimum phase zeros	Lecture notes 19 (PDF)
20	The Nyquist stability criterion	Lecture notes 20 (PDF)
21	The Nyquist stability criterion (cont.)	Lecture notes 21 (PDF)
22	Nyquist with poles on imaginary axis	Lecture notes 22 (PDF)
23	Stability margins, Bode gain-phase theorem	Lecture notes 23 (PDF)
24	Bode compensation	Lecture notes 24 (PDF)
25	Lead compensation	Lecture notes 25 (PDF)
26	Lag compensation (cont.)	Lecture notes 26 (PDF)
27	NMP systems	Lecture notes 27 (PDF)
28	The Nichols chart	Lecture notes 28 (PDF)
29	Digital control, the z-transform	Lecture notes 29 (PDF)
30	The z‐transform, design by emulation, the Tustin transform	Lecture notes 30 (PDF)
31	Compensator design examples, time delay of ZOH	Lecture notes 31 (PDF)
32	Discrete design	Lecture notes 32 (PDF)
33	The w-transform	Lecture notes 33 (PDF)
34	Design examples, pre‐warping, direct design	Lecture notes 34 (PDF)
35	Higher harmonic control	Lecture notes 35 (PDF)