Control Systems (Classical Control)

IMPORTANT MESSAGES:

• We are back to classroom teaching/learning, although part of the lectures will still be provided remotely
• Each week, slides and/or videos will be uploaded
• Grading will be based on two in-classroom tests

Learning objectives:

• Study how to model dynamical systems
• Study feedback loops and their stability
• Learn about how to analyze stability and design controllers

Instructor:

• Prof. Kai Cai (Engineering Building F-610)
• Email: [email protected]

Lecture Schedule:

• Period: April 2023 -- July 2023
• Day and Time: Fridays 13:15-14:45
• Location: B223

Textbook / Reference:

There is no textbook for this course. A reference in Japanese is the following:

フィードバック制御入門，杉江 俊治, 藤田 政之，コロナ社，1999．

Software:

This courses uses Python.

Prerequisites:

Complex analysis, calculus, linear algebra

Grading:

Test 1: 50% Test 2: 50%

Course Outline (tentative):

    Dates              Topics

1. 2023.04.07 Introduction to control systems
   • Lecture1_intro
2. 2023.04.14 State models
   • Lecture2_statemodel
3. 2023.04.21 Linearization
   • (Lecture3_functionlinearization.pdf)
4. 2023.04.28 Linearization, subsystem interconncetion
   • (Lecture4-1_odelinearization.pdf)
   • (Lecture4-2_interconnection.pdf)
5. 2023.05.12 Laplace transform
   • (Lecture5_laplacetransform.pdf)
6. 2023.05.19 Pole locations, final-value theorem
   • (Lecture6-1_laplacetransform(con'd).pdf)
   • (Lecture6-2_polelocation.pdf)
   • (Lecture6-3_finalvaluetheorem.pdf)
7. 2023.05.26 Transfer function
   • (Lecture7_transferfunction.pdf)
8. 2023.06.02 Stability
   • (Lecture8_stability.pdf)
9. 2023.06.09 Feedback loop stability, tracking reference signal
   • (Lecture9_feedbackstability.pdf)
10. 2023.06.16 Internal model principle
    • (Lecture10_internalmodel.pdf)
11. 2023.06.23 Principle of the argument, Nyquist stability criterion
    • (Lecture11-1_principleargument.pdf)
    • (Lecture11-2_nyquistcriterion.pdf)
12. 2023.06.30 Examples of Nyquist criterion
    • (Lecture10_nyquistexamples.pdf)
13. 2023.07.07 Stability margin, Bode plots
    • (Lecture11-1_stabilitymargin.pdf)
    • (Lecture11-2_bode.pdf)
14. 2023.07.14 Bode plots examples, stability margin on Bode plots
    • (Lecture12-1_bodeexamples.pdf)
    • (Lecture12-2_bodemargin.pdf)
15. 2023.07.21 Introduction to control design, controller design by loop shaping