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


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.


Full Hebrew version can be downloaded from here.


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



Type Instructor Day Time Location
lecture L. Mirkin Sunday 10:30–13:20 Lady Davis 450
tutorial M. Braksmayer Monday 12:30–13:20 Lady Davis 441
lecture (is) L. Mirkin Monday 10:30–13:20 Lady Davis 451
tutorial (is) M. Braksmayer Thursday 12:30–13:20 Lady Davis 433

"is" stands for "International School" in this case

Final exams:

Moed Date Time Location
א׳ February 20, 2020 9:00 440, 441 (is)
ב׳ March 15, 2020
(postponed until further notice)
13:00 Ullmann 604, 201 (is)
ב׳ June 2, 2020 13:00 Amado 231 (is)
ב׳ August 18, 2020 9:00 Zoom


  1. Preliminaries (review of some material from "Introduction to Control", self-study)
  2. M-circles, Nichols chart, Bode's gain-phase relation; pole/zero cancellations (also in beamer mode) (updated 22.10.2018)
  3. Lightly-damped loops; pole placement; strong stabilization (also in beamer mode)
  4. Dead-time systems (also in beamer mode)
  5. 2DOF controllers; choice of reference signals (also in beamer mode)
  6. Modeling uncertainty and robustness; integrator windup (also in beamer mode)
  7. State-space realizations (also in beamer mode)
  8. Controllability and observability, minimal realizations, state feedback (also in beamer mode)
  9. State feedback (contd), state observers, observer-based feedback (also in beamer mode)
  10. LQR (also in beamer mode)
  11. Linear-quadratic state estimation, LQG; introduction to sampled-data systems (also in beamer mode)
  12. Digital redesign of analog controllers; the Sampling Theorem (also in beamer mode) (updated 16.2.2020)
  13. Discrete-time design, analysis of discrete systems (also in beamer mode)
  14. Discrete-time design (contd); sampled-data LQR (also in beamer mode)



  1. Assignment (submission deadline: 22.12.2019, 11:59am).
  2. Assignment (submission deadline: 19.01.2020, 11:59pm).

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).