Linear Control Systems

Course Name: Linear Control Systems

Course No.: ECE  1110236

Teacher: Prof. Hamid D. Taghirad

Taught Semesters: Fall (2017, 2015, 2013, 2012, 2010, 2008, …)

Tentative Course Timetable

The tentative course contents are as following:

Time:	Teaching Contents
Week 1	Introduction: Why feedback, conceptual components of feedback systems, physical components of feedback systems, the magic of feedback.
Week 2	Introduction: the characteristics of feedback systems, stability, tracking, disturbance attenuation, noise rejection and insensitivity to model uncertainty.
Week 3	System Representation: Laplace transform, modeling of the systems with transfer functions, block diagrams, rules and simplifications, flow graph, Mason rule.
Week 4	Linear system time response: impulse and step response, first and second order time response characteristics, rise time, settling time, steady state error, overshoot, decay ratio, time and frequency domain relation.
Week 5	Stability analysis: BIBO stability definition, characteristic polynomials, poles, stability condition, Routh – Horwitz stability criteria.
Week 6	Root Locus: Closed-loop pole relation to the loop gain, Root locus graphical method of pole representation, magnitude and angle laws.
Week 7	Root Locus: Rules of root locus representation, gain selection, static feedback design, desired characteristics, time and frequency domain relation.
Week 8	Midterm Exam
Week 9	Frequency Response:  Bode response, Bode theorem,  the relation between magnitude and phase, cross over frequency, bandwidth, and frequency domain characteristics of second order systems.
Week 10	Frequency Response:  Nyquist diagram, encirclements and number of closed loop poles, Nyquist contour, nyquist stability criteria.
Week 11	Frequency Response:  Ultimate point, stability characteristics,  poles and zeros on imaginary axis, controller design based on nyquist diagram, relation between Bode and Nyquist plot.
Week 12	Frequency Response:  Nichols chart, M circles, sensitivity, and complementary sensitivity transfer functions, loop gain and feedback characteristics in  Nichols chart.
Week 13	Dynamic feedback design: Basic definitions, stability margins, gain and phase margin, bandwith, cross over frequencies, relation between time and frequency response.
Week 14	Dynamic feedback design: P controller design based on stability margin,  PI controller design based on steady state characteristics or disturbance rejection in steady state.
Week 15	Dynamic feedback design: Lag controller design, PD controller and closed loop bandwidth, lead controller, PID and lead-lag controller, comprehensive example.

Course Content

2008
2010
2012
2013
2015
2017

References:

1	Modern control Systems, R.C. Dorf and R.H. Bishop, 12th Edition, Prentice Hall, TJ 216.D67 2011.
2	Automatic Control Systems, 8th Edition,  Farid Golnaraghi and Benjamin C. Kuo, Wiley, TY 213.K8354 2011.
3	Modern control engineering, Katsuhiko Ogata, 5th ed., NJ, Prentice Hall, TJ 213.O28 2010.
4	Control engineering: a modern approach, Pierre Bélanger, Saunders College Pub., 1995.
5	Linear Control Systems, Ali khaki Sedigh, K. N. Toosi University of Technology publication, 3rd ed. 2017.