General information

Catalog no.:	00350188
Credit points:	3.5
Prerequisites:	00340032—Linear Systems 00340040—Introduction to Control
Grading policy:	2 midterm projects (tokef)—20% each (provided the grade of the final exam is at least 55) Final exam—60% (or 100%, if its grade is lower than 55)
Passing policy:	Minimum passing grade is 55, only those who pass both projects are elibible to take the final exam

Syllabus

Topics on single-loop analysis: advanced loop shaping; pole placement; control of dead-time systems; choices of reference signals; modeling uncertainty and robustness.

State-space methods: state space; structural properties of systems in state space; state feedback; state observers; observer-based output feedback; linear-quadratic regulator (LQR) problem; linear-quadratic estimation (Kalman filtering); LQG.

Introduction to sampled-data control: connecting analog and digital; the sampling theorem, aliasing, and anti-aliasing filters; digital redesign of analog controllers; control of discrete-time systems.

Literature:

• Goodwin, G. C., S. F. Graebe, and M. E. Salgado. Control System Design, Prentice Hall, 2001
• Franklin G. F., J. D. Powell, and A. Emami-Naeini. Feedback Control of Dynamic Systems Addison-Wesley
• Åström K. J. and R. M. Murray. Feedback Systems: An Introduction for Scientists and Engineers, Princeton U Press, 2008
• Åström K. J. and B. Wittenmark. Computer-Controlled Systems: Theory and Design, Prentice Hall, 1997

Lecturer:
Leonid Mirkin	210 D. Dan & Betty Kahn Bld., phone: 3149, email:
Teaching assistant:
Leeor Ravina	303 Lady Davis Bld., email:  Office hours: Sunday 11:30–12:30

Schedule

Classes:

Type	Instructor	Day	Time	Location
lecture	L. Mirkin	Tuesday	10:30–13:20	451, LD
tutorial	L. Ravina	Tuesday	9:30–10:20	451, LD

Final exams:

Moed	Date	Time	Location
א׳	Aug 4, 2025	9:00am	TBD
ב׳	Aug 31, 2025	TBD	TBD

Lectures

0. A crash review of some LS and IC material (also in beamer mode)
1. M-circles, Nichols chart, Bode's gain-phase relation (also in beamer mode)
2. Choice of reference signals; integrator windup (also in beamer mode)updated 6.4.2025
3. Pole-zero cancellations; lightly-damped loops; strong stabilization (also in beamer mode)
   • M-file of the example discussed in the class
4. Dead-time systems (also in beamer mode)
5. Modeling uncertainty and robustness; pole placement (also in beamer mode)
6. State-space realizations (also in beamer mode)
7. Controllability and observability, minimal realizations (also in beamer mode)
8. State feedback, state observers, observer-based feedback (also in beamer mode)
9. Linear-quadratic regulator (LQR) problem (also in beamer mode)
10. Properties of LQR (contd); Linear-quadratic state estimation, LQG (also in beamer mode)
11. Disturbance models and their use; sampled-data systems (also in beamer mode)
12. Digital redesign; A/D and D/A conversions, aliasing, the Sampling Theorem (also in beamer mode)
13. Digital redesign (contd); discrete-time design (also in beamer mode)

Tutorials

1. Tutorial
2. Tutorial and its solutions
3. Tutorial and its solutions
4. Tutorial and its solutions
5. Tutorial and its solutions
6. Tutorial and its solutions

Projects

1. Assignment (submission deadline: 15.05.2025, 5:00pm).

Project reports are to be submitted electronically (in PDF only, typeset, not scanned handwrites) to . MATLAB code should also be included (see explanations in the assignments).

Exams

• Things to understand
• Examples of exam questions in Hebrew and in English

Spring semester 2024/2025 סמסטר אביב תשפ״ה