### Course Meeting Times

Lectures: 3 sessions / week, 1 hour / session

Recitations: 1 session / week, 1 hour / session

### Prerequisites

Some basic understanding of classical design techniques, including root locus and Bode design methods. A working knowledge of MATLAB® and (to some extent) Simulink.

### Topics Covered

- State-space control design and analysis of feedback control systems
- Focus will be on linear systems, but consider more nonlinear analysis and control than before (but with less breadth than 2.152)
- Coverage of linear systems theory, but not as theoretical as 6.241, which is being redesigned to follow-on from this course

- Design of state-space controllers; estimation filters; dynamic output feedback
- Limitations on performance of control systems
- Linearization and analysis of nonlinear systems
- Model uncertainty and robustness

TOPICS | # OF LECTURES |
---|---|

Introduction and basics | 2 |

Review of classical synthesis techniques | 2 |

State space—linear systems | 5 |

Full state feedback | 5 |

State estimation | 2 |

Output feedback | 5 |

Nonlinear analysis, model uncertainty and robustness | 4 |

### Textbooks

None are required, as lecture notes will be provided. Several recommendations:

Franklin, Gene, J. David Powell, and Abbas Emami-Naeini. *Feedback Control of Dynamic Systems.* 6th ed. Prentice Hall, 2009. ISBN: 9780136019695.

Astrom, Karl, and Richard Murray. *Feedback Systems: An Introduction for Scientists and Engineers*. Princeton University Press, 2008. ISBN: 9780691135762.

Van de Vegte, John. *Feedback Control Systems*. 3rd ed. Prentice Hall, 1993. ISBN: 9780130163790.

### MATLAB Tutorials

Tutorial for Control System Toolbox for MATLAB

### Course Mechanics

- There is a recitation (expected attendance for 16.30, optional for 16.31). It will be about extra depth on some material and practice problems, not to answer the homework problems.
- There will be 2 labs later in the semester that will be blended in with the homework. This will be group work, depending on the class size.
- 16.31 students must do a project on a topic of their choosing (typically a brief written report on a control design approach of interest or additional work in the lab (more details to follow).

### Grading

### 16.30 (Undergraduate)

ACTIVITIES | PERCENTAGES |
---|---|

Homework | 25% |

Midterms | 15% each |

Labs | 20% |

Final | 25% |

### 16.30 (Graduate)

ACTIVITIES | PERCENTAGES |
---|---|

Homework | 25% |

Midterms | 10% each |

Labs | 20% |

Project | 10% |

Final | 25% |