Modeling, analysis and design of control systems using frequency and time-domain methods. Differential equation, Transfer function, signal flow graph and state variable representations of continuous and discrete-time systems. Linearization of nonlinear systems. Transient and frequency response of second order systems. Stability of linear systems with feedback; Routh Hurwitz, Root locus, Bode and Nyquist methods. Controllability and observability. Computational methods for analysis of linear systems. Team-based design projects involving modeling, classical compensator design and state variable feedback design.

Lecture 1 | Introduction| lecture1 hw1

Lectures 2-3 | State Space, Transfer Function and Signal Flow Graph Models of Electric Circuits | lectures2-3 hw2

Lectures 4-6 | State Space, Transfer Function and Signal Flow Graph Models of Mechanical and
Electro-Mechanical Systems | lectures4-6 hw3

Lectures 8-9 | Poles and Zeros of Continuous-time Systems, Feedback, 2nd Order System Response | lectures8-9  hw4

Lectures 10-11 | Bode Plots, Phase and Gain Margin | lectures10-11 hw5

Lectures 12-13 | Feedback, Sensitivity, Noise Rejection, Routh-Hurwitz Criterion, Routh Arrays, Steady State Error | lectures12-13 hw6

Lectures 14-15 | Root Locus, Modifications for Negative ‘c’ | lectures14-15 hw7

Lectures 17-19 | Transformation Matrix for SCF, State Variable Feedback (SVFB) Design, Solution
of State Equations, Eigenvectors, SV Transformation to Modal Form, Eigenvector
Matrix for SCF form, Computing e^At and Total Response via Modal Form, Caley-Hamilton
Theorem, Leverier’s Algorithm for Computing G(s) | lectures17-19  hw8

Lectures 20-22 | Computer Solution of Time Response (a la LSIM), Difference Equations, Sampling,
Nyquist Theorem, Z-Transforms, Stability of Discrete-time Systems, The Jury Test,
Discrete Time SV Models, State Transition Equations | lectures20-22 hw9

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