The readings listed below are from three textbooks:
VdV: Van De Vegte, J. Feedback Control Systems. Prentice Hall PTR, 1993. ISBN: 0-13-016379-1.
RMS: Rohrs, C. E., J. L. Melsa, and D. G. Schultz. Linear Control Systems. McGraw Hill, 1993. ISBN: 0-07-041525-0.
**
G&VV**: Gelb, A., and W. E. Vander Velde. Multiple-Input Describing Functions and Nonlinear System Design. McGraw Hill, 1968.
| LEC # | TOPICS | READINGS |
|---|---|---|
| 1 | Introduction | VdV: Chapter 7, S 1-4 |
| 2 | Frequency Response Bode Plot Rules | VdV: Chapter 7, S 5 |
| 3 | Frequency Response (cont.) Gain / Phase Margins | VdV: Chapter 7, S 6 |
| 4 | Bode Plot Exercises | VdV: Chapter 7, S 7-8 |
| 5 | Bode Plots for Unstable Open - Loop Systems | |
| 6 | Root - Locus Review | VdV: Chapter 6, S 1-3 |
| 7 | Root - Locus Examples | VdV: Chapter 6, S 4-6 |
| 8 | Compensation Design Principles | RMS: Chapter 8, S 1-2 |
| 9 | Compensation Design Principles (cont.) | RMS: Chapter 8, S 1-2 |
| 10 | Proportional Control + Extra Handout | RMS: Chapter 8, S 1-2 |
| 11 | Lag and PID Compensation | RMS: Chapter 8, S 4 |
| 12 | Lead and PID Compensation | RMS: Chapter 8, S 5 |
| 13 | Examples | RMS: Chapter 8, S 1-5 |
| 14 | High Frequency Roll-off Notch and Plant Inversion | RMS: Chapter 8, S 6 |
| 15 | Design Example Lead-Lag Compensation + Extra Handout | RMS: Chapter 8, S 7 |
| 16 | Examples (cont.) | RMS: Chapter 8, S 7 |
| 17 | More Examples | RMS: Chapter 8, S 8 |
| 18 | Control of Unstable Plants | RMS: Chapter 8, S 9 |
| 19 | Control of Unstable Plants (cont.) | RMS: Chapter 8, S 9-10 + RMS: 6.6 |
| 20 | Quiz | |
| 21 | Models of Nonlinearities |
Introduction (PDF) (Courtesy of D. B. DeBra. Used with permission.) |
| 22 | Common Effects of Nonlinearities | G&VV: 1.0-1.3 (PDF - 2.3 MB) (Courtesy of Authur Gelb and Wallace Vander Velde. Used with permission.) |
| 23 | Prof. David Trumper’s Lecture | |
| 24 | Describing Functions Introduction and Motivation | G&VV: 1.4-1.6 (PDF - 2.3 MB) (Courtesy of Authur Gelb and Wallace Vander Velde. Used with permission.) |
| 25 | Describing Function Analysis | G&VV: 3.0-3.1 (PDF - 4.3 MB) (Courtesy of Authur Gelb and Wallace Vander Velde. Used with permission.) |
| 26 | Computing DFs | G&VV: Chapter 2 (PDF - 2.6 MB) (Courtesy of Authur Gelb and Wallace Vander Velde. Used with permission.) |
| 27 | DF Analysis: Example 1, Stability of Boat Autopiloot | Notes |
| 28 | DF Analysis: Example 1 (cont.) | Notes |
| 29 | DF Analysis: Limit Cycling | G&VV: 3.2 (PDF - 4.3 MB) (Courtesy of Authur Gelb and Wallace Vander Velde. Used with permission.) |
| 30 | DF Analysis: Jump Resonance | G&VV: 3.3 (PDF - 4.3 MB) (Courtesy of Authur Gelb and Wallace Vander Velde. Used with permission.) |
| 31 | DF-based Compensation Design | G&VV: 3.5 (PDF - 4.3 MB) (Courtesy of Authur Gelb and Wallace Vander Velde. Used with permission.) |
| 32 | DF-based Compensation Design (cont.) | G&VV: 3.5 and 3.7 (PDF - 4.3 MB) (Courtesy of Authur Gelb and Wallace Vander Velde. Used with permission.) |
| 33 | Phase-Plane Analysis Introduction and Motivation | Chapter 3 (PDF) |
| 34 | Phase Plane Drawing Rules | Chapter 3 (PDF) |
| 35 | Phase - Plane Example I Carry-on Suitcase | |
| 36 | Phase - Plane Example II Satellite System |
Chapter 3 Extra (PDF) Chapter 4 (PDF) Chapter 5 (PDF) |
| 37 | Phase - Plane Example III Satellite System |
Chapter 3 Extra (PDF) Chapter 4 (PDF) Chapter 5 (PDF) |
| 38 | Phase - Plane and Parameter Dependence of System Dynamics | Chapter 6 (PDF) |
| 39 | Phase - Plane and Parameter Dependence of System Dynamics (cont.) | Chapter 6 (PDF) |
| Final Exam (3 hours) |
