Lecture Notes
| TOPIC # | CONTENTS | LECTURE NOTES |
|---|---|---|
| Topic 1 |
IntroductionMotivation Basic linear system response | (PDF) |
| Topic 2 |
Basic root locusBasic aircraft control concepts Basic control approaches | (PDF) |
| Topic 3 |
Frequency response methodsAnalysis Synthesis Performance Stability | (PDF) |
| Topic 4 |
Stability in the frequency domainNyquist stability theorem Examples Appendix This is the basis of future robustness tests | (PDF) |
| Topic 5 |
Control design using Bode plotsPerformance issues Synthesis Lead/Lag examples | (PDF) |
| Topic 6 |
State-space systemsWhat are state-space models? Why should we use them? How are they related to the transfer functions used in classical control design and how do we develop a state-space model? What are the basic properties of a state-space model, and how do we analyze these? | (PDF) |
| Topic 7 |
State-space systems (cont.)What are state-space models? Why should we use them? How are they related to the transfer functions used in classical control design and how do we develop a state-space model? What are the basic properties of a state-space model, and how do we analyze these? | (PDF) |
| Topic 8 |
State-space systems (cont.)What are the basic properties of a state-space model, and how do we analyze these? State-space (SS) to transfer function (TF) | (PDF) |
| Topic 9 |
State-space systems (cont.)What are the basic properties of a state-space model, and how do we analyze these? Time domain interpretations System modes | (PDF) |
| Topic 10 |
State-space systems (cont.)System zeros Transfer function matrices for multiple-input and multiple-output (MIMO) systems | (PDF) |
| Topic 11 |
State-space systems (cont.)State-space model features Observability Controllability Minimal realizations | (PDF) |
| Topic 12 |
State-Space Systems (cont.)State-space model features Controllability | (PDF) |
| Topic 13 |
State-space systems (cont.)Full-state feedback control How do we change the poles of the state-space system? Or, even if we can change the pole locations Where do we change the pole locations to? How well does this approach work? | (PDF) |
| Topic 14 |
State-space systems (cont.)Full-state feedback control How do we change the poles of the state-space system? Or, even if we can change the pole locations Where do we put the poles?
How well does this approach work? | (PDF) |
| Topic 15 |
State-space systems (cont.)Open-loop estimators Closed-loop estimators Observer theory (no noise) — Luenberger Estimation theory (with noise) — Kalman | (PDF) |
| Topic 16 |
State-space systems (cont.)Closed-loop control using estimators and regulators Dynamics output feedback "Back to reality" | (PDF - 1.3 MB) |
| Topic 17 |
Deterministic linear quadratic regulator (LQR)Optimal control and the Riccati equation Weight selection | (PDF) |
| Topic 18 |
Optimal estimatorsApplied optimal control (Chapter 12) — Bryson and Ho Applied optimal estimation — Gelb Optimal estimation of dynamic systems — Crassidis and Junkins | (PDF) |
| Topic 19 |
Feedback control systemsStengel (Chapter 6) Question: How well do the large gain and phase margins discussed for LQR map over to dynamics output feedback (DOFB) using LQR and linear quadratic estimator (LQE) (called linear quadratic Gaussian (LQG))? | (PDF) |
| Topic 20 |
Closed-loop system analysisBounded gain theorem Robust stability | (PDF) |
| Topic 21 |
Robustness analysisModel uncertainty Robust stability (RS) tests RS visualizations | (PDF) |
| Topic 22 |
Feedback control systems (cont.)Robust stability (RS) Nominal performance (NP) Robust performance (RP) Small gain theorem | (PDF) |
| Topic 23 |
MIMO systemsSingular value decomposition Multivariable frequency response plots | (PDF) |
| Topic 24 |
Feedback control systems (cont.)H∞ synthesis | (PDF) |
