Course Meeting Times

Lectures: 3 sessions / week, 1 hour / session

Recitations: 1 session / week, 1 hour / session


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
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


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

Control Tutorials for MATLAB

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).


16.30 (Undergraduate)

Homework 25%
Midterms 15% each
Labs 20%
Final 25%

16.30 (Graduate)

Homework 25%
Midterms 10% each
Labs 20%
Project 10%
Final 25%