| Introduction: the control problem, open and closed loop control; Models of Dynamic Systems: linear systems, nonlinear systems, linearization; Review: Laplace transforms and transfer functions, poles and zeros, transient response, frequency response, stability, Nyquist stability criteria, root locus; Overview of Feedback Analysis and Design: trade-offs relating noise, disturbances and control energy, open and closed loop transfer functions, stability and stability margin; Feedback Synthesis: pole placement – polynomial approach, Smith predictor; Limitations of Feedback: time domain limitations, frequency domain limitations, dealing with constraints; Controller Architectures: internal model, reference feedforward, disturbance feedforward; Advanced Controllers: synthesis using Q parameterization, design based on optimization. |
