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.