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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
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