Lecture 01: Modeling
This lecture discusses two modeling approaches: First-Principles
Modeling and System-Identification Modeling. It covers a variety
of system models. It also tackles the linearization technique and
describes how control theory is built upon the model type.
Lecture 02: Laplace Transform
This lecture introduces the Laplace transform and its properties.
The lecture also shows how to solve linear-time-invariant (LTI)
ordinary differential equations (ODE) by using the Laplace
transform and its inverse. Partical fraction expansion of
transfer functions before applying the inverse Laplace transform
is also discussed.
Lecture 03: Block Diagrams
This lecture introduces the transfer function of a linear system
as the Laplace transform of its impulse response. The lecture
also teaches how to manipulate and simplify block diagrams.
Mason's rule for obtaining transfer functions from block diagrams
is also discussed.
Lecture 04: Time Response
This lecture discusses the impulse and step responses of both
first-order and second-order transfer functions. It also discusses
how the time response is related to the position of the poles of
the transfer function. Moreover, it explains how to translate
time-domain specifications in pole-location specifications.
Lecture 05: Stability
This lecture defines stability of linear time-invariant (LTI)
systems. The lecture also introduces the Routh's criterion for
stability.
Lecture 06: Properties of Feedback
This lecture discusses properties of feedback, including
disturbance rejection and sensitivity to gain plant changes.
The lecture also discusses how to design feedback controllers
for both steady-state disturbance rejection and steady-state
tracking.
Lecture 07: PID Design
This lecture discusses the design of proportional (P),
proportional-integral (PI), proportional-derivative (PD), and
proportional-integral-derivative (PID) controllers. Dynamics and
steady-state properties are discussed. The lecture
also discusses the Ziegler-Nichols technique for PID tuning.
Lecture 08: Root Locus
This lecture discusses the root-locus technique for control
analysis and design. Magnitud and phase conditions are explained.
Design of phase-lead and phase-lag compensators by using the
root-locus technique is also discussed.
Lecture 09: Frequency Response
This lecture discusses the frequency-response technique for control
analysis and design. Magnitud and phase conditions are explained.
Stability margins are defined for both Bode plots and Nyquist plots.
Design of phase-lead and phase-lag compensators by using the
frequency-response technique is also discussed.
Lecture 10: Digital Implementation
This lecture discusses the implementation of controllers in
digital computers. The Z transform is introduced and its relation
with the Laplace transform is discussed. Emulation (Discrete
Equivalent) design is compared with Discrete design. The Nyquist
theorem is introduced.