# General information

Catalog no.: | 035188 |

Credit points: | 3.5 |

Prerequisites: | 034032—Linear Systems 034040—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

*Advanced single-loop analysis:* signals and systems in the frequency domain; advanced loop shaping; robustness of control systems; pole placement; industrial controllers; control of dead-time systems.

*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; control of discrete-time systems; the sampling theorem, aliasing, and anti-aliasing filters; digital redesign of analog controllers.

*Literature:*

- Goodwin, G. C., S. F. Graebe, and M. E. Salgado.
*Control System Design*, Prentice Hall, 2001

(book site: http://csd.newcastle.edu.au/) - 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

(book site: http://www.cds.caltech.edu/~murray/amwiki/Main_Page) - Åström K. J. and B. Wittenmark.
*Computer-Controlled Systems: Theory and Design*, Prentice Hall, 1997

Full Hebrew version can be downloaded from **here**.

## Lecturer: | |
---|---|

Leonid Mirkin | 210 D. Dan & Betty Kahn Bld., phone: 3149, email: |

## Teaching assistant: | |

Maor Braksmayer | 305 Energy Bld., phone: 2073, email: Office hours: Thursday 14:30–15:30 |

# Schedule

## Classes:

Type | Instructor | Day | Time | Location |
---|---|---|---|---|

lecture | L. Mirkin | Sunday | 14:30–17:20 | Lady Davis 451 |

tutorial | M. Braksmayer | Sunday | 17:30–18:20 | Lady Davis 451 |

## Final exams:

Moed | Date | Time | Location |
---|---|---|---|

א׳ | February 19, 2017 | 9:00 | 430 LD |

ב׳ | March 16, 2017 | 9:00 | 441 LD |

# Lectures

- Preliminaries (review of some material from "Introduction to Control")
- signals & systems in frequency domain (also in beamer mode) (updated 30.10.2016)
- fundamentals of frequency-domain design, lead and lag (also in beamer mode) (updated 30.10.2016)

- M-files of the example discussed in the class, lead controller generator, and lag controller generator

- M- and N-circles, Nichols chart, Bode's gain-phase relation; pole/zero cancellations (also in beamer mode)
- M-file of the example discussed in the class

- Lightly-damped loops; 2DOF controllers; strong stabilization (also in beamer mode) (updated 13.11.2016)
- Dead-time systems (also in beamer mode)
- Pole placement; integrator windup; choice of reference signals (also in beamer mode)
- Robustness; state space methods: preliminaries (also in beamer mode)
- Controllability and observability, minimal realizations, state feedback (also in beamer mode) (updated 13.12.2016)
- State feedback (contd), state observers, observer-based feedback (also in beamer mode) (updated 18.12.2016)
- LQR (also in beamer mode)
- Linear-quadratic state estimation, LQG; introduction to sampled-data systems (also in beamer mode) (updated 1.1.2017)
- Digital redesign of analog controllers; the Sampling Theorem (also in beamer mode) (updated 7.1.2017)
- Discrete-time design, analysis of discrete systems (also in beamer mode) (updated 21.1.2017)
- Discrete-time design (contd); sampled-data LGR (also in beamer mode) (updated 21.1.2017)

# Tutorials

- Tutorial 1
- Tutorial 2
- Tutorial 3
- Tutorial 4
- Tutorial 5
- Tutorial 6
- Tutorial 7
- Tutorial 8
- Tutorial 9
- Tutorial 10
- Tutorial 11
- Tutorial 12

# Homework assignments

(including solutions)# Projects

- Assignment (submission deadline: 11.12.2016, 11:30am).
- Assignment (submission deadline: 22.01.2017, 11:30am).

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 assignment file).