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
- A crash review of some LS and IC material (also in beamer mode)
- M-circles, Nichols chart, Bode's gain-phase relation; pole/zero cancellations (also in beamer mode)
- 2DOF control archotecture; choice of reference signals (also in beamer mode)
- Pole-zero cancellations; lightly-damped loops; strong stabilization (also in beamer mode)
- Dead-time systems (also in beamer mode)
- Modeling uncertainty and robustness; integrator windup; pole placement (also in beamer mode)
- State-space realizations (also in beamer mode)
- Controllability and observability, minimal realizations (also in beamer mode)
- State feedback, state observers, observer-based feedback (also in beamer mode)
- Linear-quadratic regulator (LQR) problem (also in beamer mode)
- Properties of LQR (contd); Linear-quadratic state estimation, LQG (also in beamer mode)
- Disturbance models and their use; sampled-data systems (also in beamer mode)
- Digital redesign; A/D and D/A conversions, aliasing, the Sampling Theorem (also in beamer mode)
- Digital redesign (contd); discrete-time design (also in beamer mode)
Tutorials
Exams
- Things to understand
- Examples of exam questions in Hebrew and in English