Stanford University
Lecture Notes for ENGR 105:
Feedback Control Design
Winter Quarter 2021
Abbas Emami-Naeini
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Copyright 2020, All Rights Reserved.
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Table of Contents
Chapter 1:
Definition of FB Control 1
History of FB Control 2
Applications of FB Control 3
Types of Control 4
Purposes of FB Control 5
Block Diagram 5
Cruise Control Example 8
Chapter 2:
DC Motor Example 10
Chapter 3:
( Impulse response first order system 13
Final Value Theorem {FVT) 14
Initial Value Theorem {IVT) 15
Transfer Function 16
First Order System 19
Second Order System 20
S-plane regions 24
Impulse response of SSOsystem 27
Step response of SSOsystem 28
Extra Zero 29
NMP system 30
Extra pole 32
Summary of dynamic response 32'
Bode form 32"
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Dominant CL pair 33
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Example of extra pole and zero 34
Bounding envelopes 36
Block diagram algebra 37
Dynamic interpretation of poles & zeros 44
Stability 47
Routh-Hurwitz 51
Chapter 4:
Basic principles of FB 57
The "Gang of six'' 59
Sensitivity & complementary sensitivity functions 60
PID Control 62
P control 62
Integral control 64
Derivative control 69
PD control 70
PIO control 71
PIO tuning 71
System Type 76
System Type wrt disturbance 84
Internal Model Principle 90
Zeigler-Nichols PIO tuning 91
Sensitivity 93
Integrator anti-windup 94
Truxal's formula 97
Chapter 5:
The Root Locus Design Method 98
Root Locus Phase & Gain Criteria 99
Root Locus Rules 103
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Root Locus Examples 108
Dynamic Compensator Design 119
Design procedure for Lead 122
Design procedure for Lag 129
Notch filter compensation design 132
Collocated vs non-collocated system 133
Extensions of Root Locus 134
Review of complex algebra 135'
Chapter 6:
Frequency Response Design Methods 136
Decibel (db) 139
Advantages of Bode frequency response 141
Bode Form 142
( Bode first order 144
Bode second order 147
Bode of 1/s and 1/s 2 149
Bode of s, K 150
Bode Examples 151
Bode plots in Matlab 156
Bode of NMP systems 157
Nyquist Stability Criterion 158
Nyquist plot shapes 170
Nyquist Examples 173
Stability Robustness Metrics GM, PM, CM 179
Bandwidth 192
Conditionally Stable Systems 195
Lead, Lag, Notch Design Using Bode 198
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Lead design procedure 200
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Lag design procedure 209
Notch compensation 213
Frequency response of e·ts 217
Nyquist plot with time delay 218
Bode's gain-phase relationship 220
Bode's sensitivity integrals 222
Robust Stability 227
Fundamental diagram of FB control 229
Nichols Chart 230
Course Summary 236
