Chapter 1: Introduction
- Lecture 1: Applications, Terminology, Block Diagrams (Sections 1.1 and 1.2, Slides)
- Lecture 2: Modeling with Ordinary Differential Equations (Section 2.1)
- Lecture 3: Equilibrium Points and Linearization (Section 2.2)
- Lecture 4: Alternative Model Representations (Section 2.3)
Chapter 3: System Response (m-files)
- Lecture 5: Numerical Simulation (Section 3.1, m-files)
- Lecture 6: Free (Initial Condition) Response (Section 3.2)
- Lecture 7: Forced Response (Section 3.3)
- Lecture 8: Step Response and First Order Step Response (Sections 3.4 and 3.5)
- Lecture 9: Second Order Step Response (Section 3.6)
- Lecture 10: Higher Order Systems (Section 3.7)
Chapter 4: PID Control (m-files)
- Lecture 11: Summary of Control Design Issues (Section 4.1)
- Lecture 12: Open-Loop Control (Section 4.2)
- Lecture 13: Proportional Control (Section 4.3)
- Lecture 14: Proportional-Integral Control (Section 4.4)
- Lecture 15: Proportional-Derivative Control (Section 4.5)
- Lecture 16: PID Tuning (Section 4.6)
- Lecture 17: Control Law Implementation (Section 4.8)
Chapter 5: Frequency Response (m-files)
- Lecture 18: Steady-State Sinusoidal Response (Section 5.1)
- Lecture 19: Bode Plots (Section 5.2)
- Lecture 20: Bode Plots: First Order Systems (Section 5.3)
- Lecture 21: Bode Plots: Second Order Systems (Section 5.4)
- Lecture 22: Bode Plots: Higher Order Systems (Section 5.5)
- Lecture 23: Exam 1
- Lecture 24: Frequency Content of Signals (Section 5.6)
- Lecture 24: System Identification (Section 5.7, Slides)
Chapter 6: Frequency Domain Control Design (m-files)
- Lecture 25: Interconnections of Systems (Section 6.1)
- Lecture 26: Stability of Feedback Systems (Section 6.2)
- Lecture 27: Frequency Domain Performance Specifications (Section 6.3)
- Lecture 28: Introduction to Loopshaping (Section 6.4)
- Lecture 29: Effects of Components (Section 6.5)
- Lecture 30: Loopshaping Design (Section 6.6, pdf m-file)
Chapter 7: Stability Margins and Robustness (m-files)
- Lecture 31: Nyquist Plots (Section 7.1)
- Lecture 32: Cauchy’s argument principle (Section 7.2)
- Lecture 33: Nyquist Stability Condition (Section 7.3)
- Lecture 34: Modifications to Basic PID: Anti-Windup (Section 4.7, pdf)
- Lecture 35: Gain Margins (Section 7.4)
- Lecture 36: Phase and Time Delay Margins (Section 7.5)
- Lecture 37: Exam 2
- Lecture 38: Disk Margins (Section 7.6)
- Lecture 39: Basic Loopshaping Theorem (Section 7.7, pdf)
- Lecture 40: Lead Control (Section 7.8, pdf)
- Lecture 41: Loopshaping Design (Section 7.9, pdf m-file, Simulink)
- Lecture 42: Miscellaneous Topics and Review