ECE 486 (Control Systems) - Spring 2020


Excluding the lab manual readings, all associated readings are from Franklin, Powell, and Emami-Naeini, Feedback Control of Dynamic Systems, Prentice Hall.

After each class, lecture notes will be uploaded to Piazza. These can be found under 'Lecture Notes’ here:

Date Topic Associated Readings
Week 1 Jan. 21 Introduction to feedback control Ch. 1
Jan. 23 State-space models of systems; linearization Sections 1.1, 1.2, 2.1–2.4, 7.2, 9.2.1
Week 2 Jan. 28 Linear systems and their dynamic response Section 3.1, Appendix A
Jan. 30 Transient and steady-state dynamic response with arbitrary initial conditions Section 3.1, Appendix A
Week 3 Feb. 4 System modeling diagrams; prototype second-order system Sections 3.1, 3.2, lab manual
Feb. 6 Transient response specifications Sections 3.3, 3.14, lab manual
Week 4 Feb. 11 Effect of zeros and extra poles; Routh-Hurwitz stability criterion Sections 3.5, 3.6
Feb. 13 Basic properties and benefits of feedback control Section 4.1, lab manual
Week 5 Feb. 18 Introduction to Proportional-Integral-Derivative (PID) control Sections 4.1-4.3, lab manual
Feb. 20 Introduction to Root Locus design method Ch. 5
Week 6 Feb. 25 Root Locus continued; introduction to dynamic compensation Ch. 5
Feb. 27 Midterm 1
Week 7 Mar. 3 Lead and lag dynamic compensation Ch. 5
Mar. 5 Lead and lag continued; introduction to frequency-response design method Sections 5.1-5.4, 6.1
Week 8 Mar. 10 Bode plots for three types of transfer functions Section 6.1
Mar. 12 Stability from frequency response; gain and phase margins Section 6.1
Week 9 Mar. 24 Control design using frequency response Ch. 6
Mar. 26 Control design using frequency response continued; PI and lag, PID and lead-lag Ch. 6
Week 10 Mar. 31 Nyquist stability criterion Ch. 6
Apr. 2 Nyquist stability criterion continued; gain and phase margins from Nyquist plots Ch. 6
Week 11 Apr. 7 Introduction to state-space design Ch. 7
Apr. 9 Controllability, stability, and pole-zero cancellations; similarity transformation; conversion of controllable systems to Controller Canonical Form Ch. 7
Week 12 Apr. 14 In-class review Ch. 7
Apr. 16 Midterm 2
Week 13 Apr. 21 Pole placement by full state feedback Ch. 7
Apr. 23 Observer design for state estimation Ch. 7
Week 14 Apr. 28 Joint observer and controller design by dynamic output feedback; separation principle Ch. 7
Apr. 30 Dynamic output feedback continued Ch. 7
Week 15 May 5 In-class review
Final Monday, May 11, 7pm – 10 pm (tentative) Final Exam

Additional materials

Lecture notes from previous iterations of the course can be found at the link below. The slides are created by Professors Raginsky and Liberzon. However, the material covered and notation used may vary. Students enrolled in Spring 2020 are responsible for material covered in lecture and the lecture notes above. There is no guarantee the slides below form an accurate surrogate.