Syllabus

The course plan listed below is tentative. Changes may be made during the semester.

Week Date Topic
1 April 12 Introduction. Overview of syllabus: Information on the course, homework assignments and term project. Synopsis of all control techniques that will be covered in this course.
2 April 19 Review of conventional methods: Phase lead, lag, and lead-lag compensators and also as a special case PD,PI, and PID controllers
3 April 26 Constraints on the sensitivity and complementary sensitivity functions
4 May 3 Introduction to parametric robust control: Mapping Hurwitz stability, D-stability, and frequency domain bounds into parameter space
5 May 10 Parametric robust control (II)
6 May 17 Review of state-space control methods: Design of the continuous (and discrete)-time linear-quadratic Gaussian (LQG) controller
7 May 24 LQG - Loop Transfer Recover (LTR)
8 May 31 Delays in control systems: effect of time-delays, a simple (bode-type) stability condition, Lyapunov-Razmunkin and Lyapunov-Krasovskii functionals, and Smith predictors
9 June 7 Review of digital control: discretization of a continuous-time system, mapping between s and z planes, selection of sampling rate, stable inversion, and non-minimum phase zeros
10 June 14 Input shaping filters: Zero phase error tracking (ZPET) controller, precision tracking controller (PTC), and optimal precision tracking control (OPTC)
11 June 21 Model regulator (disturbance observer): Continuous and discrete-time design
12 June 28 Communication model regulator (disturbance observer)
13 July 5 Introduction to repetitive control: regeneration spectrum, and continuous-time design
14 July 12 Repetitive control: discrete-time design
15 July 19 Iterative learning control