Course introduces control theory. Follows ECE216 — Signals and Systems.
No assigned textbook. Some quick links:
- Course pages
- Past lecture notes from Prof Bruce Francis
- Quercus page
- 2020 course page, from Prof Mireille Broucke
- Modern Control Systems, by Richard C. Dorf and Robert H. Bishop
- Control Systems Lectures by Brian Douglas
Concepts covered
- Basic control theory
- Open- and closed-loop systems
- Feedback system
- Examples of systems
- Mechanical systems (dynamics: mass-spring, pendulum)
- Electrical systems (RL circuit, RLC circuit)
- System properties
- System models
- Differential equation
- Transfer function (matrix form)
- State-space model
- Linearisation of non-linear systems
- Block diagram
- Laplace transform and inverse Laplace transform
- Residue
- Cauchy’s residue theorem
- Zeroes and poles
- Final-value theorem
- Time response
- Damping ratio, natural frequency
- Transient specifications (rise time, peak time, percent overshoot, settling time)
- Root locus
- Stability
- Internal, asymptotic, BIBO stability
- Routh-Hurwitz criterion
- Nyquist stability criterion
- Bode plot
- System controller
- Asymptotic tracking
- Internal model principle
- Types of controllers
- Proportional
- Proportional-integral (PI)
- Proportional-integral-derivative (PID)
- lag controllers
- Stability margin
- Lab work