Date 
Topic 
Additional Reading 
InClass Problems 
08/24 
Introduction to feedback control
Historical overview

FPE Ch. 1, Control  A perspective 

08/26 
ODEs and LTI systems;Convolution ;Laplace Transform and Transfer Functions 
FPE Sections 1.1, 1.2, 2.1  2.4; Old slides 
Problem_lec02;Solutions 
08/31 
Response of Linear ODEs;Method of Partial Fractions ;DC Gain & Final Value Theorem 
FPE Section 3.1, Appendix A;Old slides 
Problem_lec03;Solutions 
09/02 
Time domain performance;Firstorder step response ;Secondorder step response 
FPE Section 3.3  3.4, Lab manual;Old slides 
Problem_lec04;Solutions 
09/07 
Interconnections;Block diagrams;Statespace models 
Old slides 
Problem_lec05;Solutions 
09/09 
Effect of Extra Poles and Zeros;Stability;RouthHurwitz Criterion 
FPE Sections 3.5  3.6;Old slides 
Problem_lec06;Solutions 
09/14 
Summary of Control Design Issues;OpenLoop Control;Proportional Control 
FPE Sections 4.1, Lab manual;Old slides 
Problem_lec07;Solutions 
09/16 
ProportionalIntegral Control;ProportionalDerivative Control 
FPE Sections 4.2  4.3, Lab manual 
Problem_lec08;Solutions 
09/21 
PI Tuning for FirstOrder Systems;PID Tuning for SecondOrder Systems 
A classic paper and a relatively recent survey 
Problem_lec09;Solutions 
09/23 
Dominant Pole Approximation;Integrator Antiwindup;Control Law Implementation 
FPE Section 4.2  4.3, Section 9.3.1 
Problem_lec10;Solutions 
09/28 
Introduction to Root Locus design method;Rules ABC 
FPE Chapter 5 
Problem_lec11;Solutions 
09/30 
Root Locus Rules DEF;Case Study on Design 
FPE Chapter 5 
Problem_lec12;Solutions 
10/05 
InClass Review I 


10/07 
Midterm I 


10/12 
Steady State Sinusoidal Response;Bode Plots;Example: Firstorder Systems 
FPE Section 6.1 
Problem_lec13;Solutions 
10/14 
Bode Plots for 2ndOrder Systems;Frequency Content of Signals;Intro to Bode Plots of HigherOrder Systems 
FPE Section 6.1 
Problem_lec14;Solutions 
10/19 
Bode Plots for General Systems 
FPE Chapter 6 

10/21 
Sensitivity Functions;Gain Margin;Phase Margin 
FPE Chapter 6 
Problem_lec16;Solutions 
10/26 
Bode Plots for Gain/Phase Margins;Bode GainPhase Relationship;Lead Compensator 
FPE Chapter 6 

10/28 
Nyquist Plots;Cauchy's Argument Principle;NyquistStabilityCondition;Margins from Nyquist Plots 
FPE Chapter 6 

11/02 
Nyquist Stability Condition with Varying K;Lag Compensator 
FPE Chapters 56 

11/04 
Loop Shaping 


11/09 
Lecture 21: Introduction to statespace design 
FPE Chapter 7 

11/11 
Lecture 22: Controllability, stability, & polezero cancellations; similarity transformation; canonical forms 
FPE Chapter 7 

11/16 
Midterm II 


11/18 
Lecture 23: Pole placement by full state feedback 
FPE Chapter 7 

11/30 
Lecture 24: Observer design for state estimation 
FPE Chapter 7 

12/02 
Lecture 25: Dynamic output feedback;Linearization of Nonlinear Models 
FPE Chapter 7 
Practice Problems for Linearization 
12/07 
Inclass review 
Good luck! 
