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


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.



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



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


  1. A crash review of some IC material (also in beamer mode)
  2. M-circles, Nichols chart, Bode's gain-phase relation; pole/zero cancellations (also in beamer mode)
  3. 2DOF control archotecture; choice of reference signals (also in beamer mode) updated 23.3.2023
  4. Pole-zero cancellations; lightly-damped loops; strong stabilization (also in beamer mode) updated 15.4.2023
  5. Dead-time systems (also in beamer mode) updated 27.4.2023
  6. Modeling uncertainty and robustness; integrator windup; pole placement (also in beamer mode) updated 9.5.2023
  7. State-space realizations (also in beamer mode)
  8. Controllability and observability, minimal realizations (also in beamer mode)
  9. State feedback, state observers, observer-based feedback (also in beamer mode) updated 9.6.2023
  10. Linear-quadratic regulator (LQR) problem (also in beamer mode) updated 21.6.2023
  11. Properties of LQR (contd); Linear-quadratic state estimation, LQG (also in beamer mode) updated 21.6.2023
  12. Disturbance models and their use; sampled-data systems (also in beamer mode)
  13. Digital redesign; A/D and D/A conversions, aliasing, the Sampling Theorem (also in beamer mode)
  14. Digital redesign (contd); discrete-time design (also in beamer mode)



  1. Assignment (submission deadline: 17.05.2023, 9:00am).
  2. 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).