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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