# 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

*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

(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

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

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

## Teaching assistant: | |

Gal Barkai | 210 Lady Davis Bld., phone: 1646, email: Office hours: Tuesday 14:30–15:30 |

# Schedule

## Classes:

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

lecture | L. Mirkin | Wednesday | 14:30–17:20 | Auditorium 1, Dan Kahn |

tutorial | G. Barkai | Tuesday | 15:30–16:20 | Auditorium 1, Dan Kahn |

## Final exams:

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

א׳ | Jul 30, 2023 | 1:00pm | 430 (ext), 433, 440 |

ב׳ | Oct 19, 2023 | 1:00pm | 430, 433 |

ב׳ | Dec 29, 2023 | 9:00am | 433 |

# Lectures

- A crash review of some 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) updated 23.3.2023
- Pole-zero cancellations; lightly-damped loops; strong stabilization (also in beamer mode) updated 15.4.2023
- Dead-time systems (also in beamer mode) updated 27.4.2023
- Modeling uncertainty and robustness; integrator windup; pole placement (also in beamer mode) updated 9.5.2023
- 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) updated 9.6.2023
- Linear-quadratic regulator (LQR) problem (also in beamer mode) updated 21.6.2023
- Properties of LQR (contd); Linear-quadratic state estimation, LQG (also in beamer mode) updated 21.6.2023
- 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

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

# Projects

- Assignment (submission deadline: 17.05.2023, 9:00am).
- Assignment (submission deadline: 30.06.2022, 2:00pm).

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