This course is designed to provide students with a thorough understanding of the mathematical underpinnings of physical system modeling, sensors and actuators, data acquisition and signal conditioning, classical and modern digital control design methods and the associated computational algorithms for real-time closed-loop computer control of electromechanical systems. The course is addressed to students in engineering who had an undergraduate course in systems analysis and possibly the graduate course, “Introduction to Systems Theory”.

Lecture 1 | Introduction & Mathematical Modeling | lecture1 hw1

Lecture 2 | Feedback Structures, Digital Control and Stability | lecture2 hw2

Lecture 3 | Digital Interfacing, Sampling, Signal Conditioning, and Models of Sampled Data Systems | lecture3 hw3

Lecture 4 | Performance Criteria, Sensor Rating, Actuator Issues | lecture4 hw4

Lecture 5 | Sensors |  lecture5

Lecture 6 | Actuators | lecture6

Lecture 7-8 | Classical SISO (Continuous-time) Control Design Methods | lectures7_8 hw5

Lecture 9 -10| Compensator Design via Discrete Equivalent and Direct Design |  lectures9_10

Lectures 11 | State Variable Feedback Design via Gain Transformation and Pole Placement | lecture11 hw6

Lecture 12-13 | Linear Quadratic Regulator (LQR) Control, State Estimation, Optimal Control | lecture12 lectures12_13 hw7