# Control Systems (Classical Control)

## IMPORTANT MESSAGES:

- Due to COVID-19, all lectures will be given remotely
- Each week, slides and videos will be uploaded
- Grading will be based on 5 homework assignments (please see "Homework" section below for submission deadlines)

## Learning objectives:

*Study how to model dynamical systems**Study feedback loops and their stability**Learn about how to analyze stability and design controllers*

## Instructor:

- Prof. Kai Cai (Engineering Building F-610)
- Email: kai.cai@eng.osaka-cu.ac.jp
~~Office hour: after each lecture or by email appointment~~(Questions will be answered through WebClass discussion, so post your questions there)

## Lecture Schedule:

- Period: May 2020 -- Aug. 2020
- Day and Time: Fridays 13:20-15:00
~~Location: Engineering Building B-223~~(Remote lectures)

## Textbook / Reference:

There is no textbook for this course. A reference in Japanese is the following:

フィードバック制御入門，杉江 俊治, 藤田 政之，コロナ社，1999．

## Software:

This courses uses Matlab. You need Windows 64bit. Install Matlab (download the Windows 64bit version here, with university campus license). After you install the software, you also need to make a change according this document.

## Prerequisites:

Complex analysis, calculus, linear algebra

## Grading:

~~Exam 100%~~(5 homework assignments, each 20 points)

## Homework:

Homework must be submitted through WebClass by the deadlines; 0 point for late submission unless exceptional reason exists

- Homework1 (assigned 2020.05.22,
**deadline 2020.06.05**) - Homework2 (assigned 2020.06.05,
**deadline 2020.06.19**) - Homework3 (assigned 2020.06.19,
**deadline 2020.07.03**) - Homework4 (assigned 2020.07.03,
**deadline 2020.07.17**) - Homework5 (assigned 2020.07.17,
**deadline 2020.08.07**)

## Course Outline:

` Dates Topics`

- 2020.05.15 Introduction to control systems (Lecture1-1_history) (Lecture1-2_introduction)
- 2020.05.22 State models (Lecture2-1_blockdiagram) (Lecture2-2_statemodel)
- 2020.05.29 Linearization (Lecture3-1_functionlinearization) (Lecture3-2_odelinearization)
- 2020.06.05 Laplace transform (Lecture4-1_interconnection) (Lecture4-2_LaplaceTransformDefinition) (Lecture4-3_LaplaceTransformProperties)
- 2020.06.12 Pole locations, final-value theorem, transfer function (Lecture5-1_polelocation) (Lecture5-2_finalvalue) (Lecture5-3_transferfunction)
- 2020.06.19 Stability, feedback loop (Lecture6-1_stability) (Lecture6-2_feedbackloop)
- 2020.06.26 Feedback loop stability, tracking reference signal (Lecture7-1_feedbackstability) (Lecture7-2_referencetracking)
- 2020.07.03 Principle of the argument, Nyquist stability criterion (Lecture8-1_principleargument) (Lecture8-2_nyquistcriterion)
- 2020.07.10 Examples of Nyquist criterion, stability margin (Lecture9-1_nyquistexamples) (Lecture9-2_stabilitymargin)
- 2020.07.17 Bode plots (Lecture10-1_bode) (Lecture10-2_bodeexamples)
- 2020.07.31 Stability margin on Bode plots (Lecture11-1_bodemargin) (Lecture11-2_designintro)
- 2020.08.07 Test week (no lecture)
- 2020.08.14 Controller design by loop shaping I: phase-lag (Lecture12_phaselag)
- 2020.08.21 Controller design by loop shaping II: phase-lead (Lecture13-1_phaselead) (Lecture13-1_sensitivityfunction)