Introduction to Advanced Control Systems
Time and Frequency domain parameters
Bode diagrams refresher, basic factors, constant gain, integral, derivative, first order in denominator
First order factor in numerator, multiplicity m, Quadratic factor in numerator, Summary of all factors
Problem solving and Matlab intro
Bode diagram problems, Gain and phase margin intro
Introduction to compensators, lead and lag, need for gain and phase margin
Performance measures in time domain, frequency domain, steady state error
Lead compensation, determination of attenuation factor
Lead compensator
Lead compensator design with example
Lag compensation procedure and problem solving
Lag-lead compensator design
Root locus review
Lead compensation with Root locus
Lead compensator, Lag compensator using Root locus method
Lag and Lag-lead compensator using Root locus
Lag-lead compensator, PID tuning, Ziegler-Nichols
Introduction to state space
State space model
State diagrams
State diagram to State equation and Output equation
Phase variable canonical form, Input feedforward canonical form
Solution to state space equations, Discrete time systems
Characteristic Equations, Eigenvalues, Eigenvectors
Similarity Transformation
Cayley Hamilton theorem, Controllability
Observability, Controller canonical form
Observer canonical form, State feedback control design
Luenberger observer design
Nonlinear system phenomena, typical nonlinearities
Linearization of NL systems
Linearization of NL systems, Discussion of Quiz 4
Discussion on Quizzes 2 and 3
Discussion on quizzes 1 & 5
Recap of Nonlinear systems
Describing functions
Describing function for Deadzone nonlinearity
Describing function for Saturation nonlinearity
Phase plane analysis
Lyapunov stability analysis, Quadratic function definiteness
Lyapunov stability theorem
Matlab commands for Bode diagram, Eigenvalue-eigenvector computations
Linearization, Phase portraits
Discussion on Quiz 8, Review of Unit 1
