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% |
