The following table shows the lecture topics and the corresponding sections
of the text. This schedule will be updated as the semester progresses, so it's a good idea to check the webpage
periodically. In the lectures the major concepts will be developed: you should know how each concept is
derived, why it is important, and how it is used in problem solving. The text supplements the lectures
by showing numerous examples and real applications. As such, the text is not meant as a primary source
of concept learning, and attendance at lectures is essential. Note that topics will be covered
which do not appear in either the text or the course notes.
| Week |
Lecture |
Topics |
Sections of Text / Midterm Date |
| 1 |
1 |
Introduction: what is a control system |
1.1 - 1.3, 1.8 |
| |
2 |
ODE's and state equations |
|
| |
3 |
State equations and examples |
|
| 2 |
4 |
Nonlinear systems and linearization |
3.1 - 3.3, linearization.pdf |
| |
5 |
Laplace transform review |
|
| |
6 |
Laplace transform review |
|
| 3 |
7 |
Transfer functions, TF <--> SS |
2.4 - 2.5, 3.6 |
| |
8 |
Block diagrams and interconnections |
|
| |
9 |
Time response: derivation in state space |
|
| 4 |
10 |
Computing e^At |
3.7, 5.1 - 5.3 |
| |
11 |
Computing e^At |
|
| |
12 |
Performance specifications on the transient response |
|
| 5 |
13 |
Performance specifications on the transient response |
6.1, 6.4 |
| |
14 |
Stability of LTI systems: asymptotic stability |
|
| |
15 |
Stability of LTI systems: BIBO stability |
|
| 6 |
16 |
Routh criterion, P control design |
4.1 - 4.7, 6.2 |
| |
17 |
Open-loop v.s. closed-loop |
|
| |
18 |
Open-loop v.s. closed-loop |
|
| |
|
Reading Week |
February 17 - 21 |
| 7 |
19 |
|
Midterm, February 25, 6-8pm |
| |
20 |
Control design problem |
6.5, 7.6, 9.1 - 9.3 |
| |
21 |
Closed-loop stability |
|
| 8 |
22 |
Closed-loop stability |
|
| |
23 |
Unstable pole-zero cancellations |
|
| |
24 |
Steady-state error |
|
| 9 |
25 |
Steady-state error |
8.1 - 8.5 |
| |
26 |
Principle of the argument |
|
| |
27 |
Principle of the argument |
|
| 10 |
28 |
Nyquist stability criterion |
10.4, 10.8 |
| |
29 |
Nyquist stability criterion |
|
| |
30 |
Nyquist stability criterion |
|
| 11 |
31 |
Nyquist stability criterion |
|
| |
32 |
Frequency response and Bode plots |
|
| |
33 |
Bode plots |
|
| 12 |
34 |
Bode plots |
|
| |
35 |
Lag design |
11.3 |
| |
36 |
Lead design |
|
| 13 |
37 |
Pole placement |
|
| |
38 |
Pole placement |
|
| |
39 |
Pole placement |
|
There are six homeworks distributed on Blackboard roughly once every two weeks.
The homework is to be turned in at the beginning of lecture on the specified date.
No late homeworks are accepted. The homeworks are not marked for correctness, but your
TA will check that all problems are (seriously) attempted for an overall mark of 1;
if not, you get 0 on the entire homework.
Tutorial problems are not graded, but it is recommended to solve them before the tutorial.
| Problem Set |
Topics |
Problems Solved in Tutorial |
Solutions |
| Problem set 1 |
Modeling, state equations |
1, 3 |
Solution 1 |
| Problem set 2 |
Linearization, Laplace transforms, solving ODEs |
1, 2.8, 2.9, 3.4, 3.8, 5.1 |
Solution 2 |
| Problem set 3 |
Transfer functions, state equations |
1, 3, 7 |
Solution 3 |
| Problem set 4 |
Solving e^At, time response, step response of 2nd order underdamped systems |
1, 2, 3, 4 |
Solution 4 |
| Problem set 5 |
Block diagram reduction, step response of 2nd order underdamped systems |
1, 3, 4 |
Solution 5 |
| Problem set 6 |
Stability, Routh-Hurwitz criterion |
1, 4, 5, 6 |
Solution 6 |
| Reading Week |
|
|
|
| Problem set 7 |
Steady-state error |
1, 2, 3, 8 |
Solution 7 |
| Problem set 8 |
Nyquist stability |
1(a), 1(c), 1(d), 2(a), 2(b) |
Solution 8 |
| Problem set 9 |
Bode plots, gain and phase margin |
1(c), 2, 3 |
Solution 9 |
| Problem set 10 |
Pole placement |
1, 2 |
Solution 10 |
There are four labs and they are performed in groups of two or three students. If you don't already have
lab partners among students in your lab session, the TAs will help you to form a group.
The labs require a preparation and a report. Each student submits one preparation at the
beginning of the lab. Each lab group submits a lab report one week after your scheduled lab.
There are no make-up labs. If you miss a lab you cannot show up at a different lab section.