Control Systems Theory and Design

Lecture Plan Exercise Plan

Lectures Exercises

Dates No Place & Time Topic Dates No. Prob. MATLAB Topic
K-DE15
th Introduction, state space models and transfer functions
Mon 14 01 Raum 0506
Chapter 1

(SISO)
Week 1

8:00
double lecture week
K-DE15
th State space models and transfer functions, state
Thu 17 02 Raum 0506
feedback, similarity transformation
17:45-19:15
1.1 State space representations
Week 2

K-DE15
OCTOBER

st Solution of state equation, stability, Cayley-Hamilton Mon-Fri 21- 1.2 Cayley-Hamilton Theorem
Mon 21 03 Raum 0506 1
Chapter 2

Theorem, controllaility 25 1.3 √ Phase plane diagrams

8:00
1.4 Characteristic Polynomial
K-DE15
th
Mon 28 04 Raum 0506 Controllability, pole placement, uncontrollable systems
8:00
Week 3

double lecture week

K-DE15
th Controllable subspace, stabilizability, state estimation,
Tue 29 05 Raum 0506
duality with state feedback
17:45-19:15
Chapter 3

1.5 Time response

1.6 √ Mass-spring system
Week 4

th Mon-Fri 04- 1.7 Observer canonical form

Mon 04 No Lecture 2
08 1.9 Similarity transformation
1.11 Mini Segway model
1.12 √ Mini Segway model validation
K-DE15
th Observability, unobservable subsystems, observable
Mon 11 06 Raum 0506
subspace
8:00
Chapter 4
Week 5

K-DE15
th Detectability, Kalman decomposition, observer-based
Tue 12 07 Raum 0506 Three lecture week
NOVEMBER

state feedback
17:45-19:15
K-DE15
th Zeros of state space models, reference tracking, closed-
Thu 14 08 Raum 0506
loop input-output behavior
17:45-19:15
1.8 Bi-proper system
2.1 Analysis of controllability
Week 6

K-DE15
th Optimal state feedback (SISO), symmetric root locus Mon-Fri 18-
Mo 18 09 Raum 0506
design 22
3 2.4 √ Bass-Gura Formula
8:00 2.6 Inverted pendulum
Chapter 5

2.7 √ Inverted pendulum - feedback controller

2.5 PBH test
2.8 Transformation into controller form
Week 7

K-DE15
th Optimal state estimation, multivariable systems, state Mon-Fri 25-
Mon 25 10 Raum 0506 4 2.10 Controllability with state feedback
space models and transfer functions 29
8:00 3.1 √ Stabilisability and detectability
3.2 √ Single inverted pendulum with friction
4.1 √ Observer design using Matlab
Week 8

K-DE15 4.2 √ Zeros of state space model

nd Controllability, poles and zeros of MIMO state space Mon-Fri 2-
Mon 02 11 Raum 0506 5
models, minimal realization 6 4.3 √ Setpoint tracking design with static prefilter
8:00
4.4 Observability under state feedback
4.5 √ Setpoint following using integrators
Mon-Fri 09- 4.6 √ Opt. contr. and observer design with symm. root locus
6
13 4.7 Roots of SRL at limits
Week 9

No Lecture
DECEMBER

Mon 09 th 4.10 √ Mini Segway LQR desgin

Midterm
9th Dec
08:00
K-DE15
Raum 0506 8:00
Chapter 6

K-DE15
Digital control, discrete-time systems, z-transform and
Mon 16 th
12 Raum 0506 5.3 √ Pole placement design for turbogenerator
transfer functions
8:00
Week 10

Mon-Fri 16-
Discrete-time state space models, solution of state 7
20
th Audi 1 equation, stability, controllability and observability, 5.7 √ Kalman decomposition
Fri 20 13
15:00 sampled-data systems, delta sampling and zero-order- 5.10 √ Turbogenerator LQR
hold
5.15 √ Turbogenerator LQG
6.1 Simple discrete time responses from z transforms
6.2 Discrete time final value theorem
Week 13

K-DE15
th Sampled-data controller design, Tustin approximation, Mon-Fri 6- 6.3 Root loci for discrete systems
Mo 06 14 Raum 0506 8
and exact (zoh) discretization, time delays 10 6.4 Discrete time controller form
8:00
6.5 √ Discrete time proportional controller
6.6 √ Discrete time PD controller
6.7 √ Deadbeat controller design
Week 14

K-DE15
Sampling zeros, frequency response of sampled-data Mon-Fri 13- 6.8 √ Discrete turbogenerator
JANUARY

th
Mon 13 15 Raum 0506 9
systems 16 6.17 √ Mini Segway discrete LQR control
8:00
Chapter 7

6.18 √ Mini Segway discrete LQG control

6.9 Discrete convolution
Week 15

K-DE15 6.10 Impulse response

th Choice of sampling rate and anti-aliasing, singular value Mon-Fri 20-
Mo 20 16 Raum 0506
decomposition, balanced realization 24
10 6.11 √ Zeros of discrete time system
8:00 6.12 Finite word length
6.13 Sampling times
Chapter 8

√
Week 16

K-DE15 6.14 Frequency response of zoh unit

th Mon-Fri 27-
Mo 27 17 Raum 0506 Balanced truncation and balanced residualization 11 6.15 √ Frequency response of discrete system with sinusoidal input
31
8:00
8.1 √ Reduction by truncation and residualization

Control System Theory and Design Lecture Plan WS 2018/19 Page 1 of 1