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.
- 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.
|Leonid Mirkin||210 D. Dan & Betty Kahn Bld., phone: 3149, email:|
|Maor Braksmayer||305 Energy Bld., phone: 2073, email:
Office hours: Thursday 14:30–15:30
|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
|א׳||February 20, 2020||9:00||440, 441 (is)|
(postponed until further notice)
|ב׳||June 2, 2020||13:00||Amado 231 (is)|
|ב׳||August 18, 2020||9:00||Zoom|
- Preliminaries (review of some material from "Introduction to Control", self-study)
- signals & systems in frequency domain (also in beamer mode)
- fundamentals of frequency-domain design, lead and lag (also in beamer mode)
- M-circles, Nichols chart, Bode's gain-phase relation; pole/zero cancellations (also in beamer mode) (updated 22.10.2018)
- M-file of the example discussed in the class
- Lightly-damped loops; pole placement; strong stabilization (also in beamer mode)
- Dead-time systems (also in beamer mode)
- 2DOF controllers; choice of reference signals (also in beamer mode)
- Modeling uncertainty and robustness; integrator windup (also in beamer mode)
- Controllability and observability, minimal realizations, state feedback (also in beamer mode)
- State feedback (contd), state observers, observer-based feedback (also in beamer mode)
- LQR (also in beamer mode)
- Linear-quadratic state estimation, LQG; introduction to sampled-data systems (also in beamer mode)
- Discrete-time design, analysis of discrete systems (also in beamer mode)
- Discrete-time design (contd); sampled-data LQR (also in beamer mode)
- Tutorial 1 and the same in English
- Tutorial 2 and the same in English
- Tutorial 3 and the same in English
- Tutorial 4 and the same in English
- Tutorial 5 and the same in English
- Tutorial 6 and the same in English
- Tutorial 7 and the same in English
- Tutorial 8 and the same in English
- Tutorial 9 and the same in English
- Tutorial 10 and the same in English
- Tutorial 11 and the same in English
- Tutorial 12 and the same in English
- Assignment (submission deadline: 22.12.2019, 11:59am).
- 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).