Control Systems (Classical Control)

IMPORTANT MESSAGES:

• We are back to classroom teaching/learning, although part of the lectures will still be provided remotely
• Each week, slides and/or videos will be uploaded
• Grading will be based on a single final test

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

Lecture Schedule:

• Period: April 2022 -- July 2022
• Day and Time: Fridays 13:15-14:45
• Location: B223

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:

Final test 100%

Course Outline (tentative):

    Dates              Topics

1. 2022.04.08 Introduction to control systems
   • Lecture1_intro
2. 2022.04.15 State models
   • Lecture2_statemodel
3. 2022.04.22 Linearization (online)
   • (Lecture3_functionlinearization.pdf)
4. 2022.05.06 Linearization, subsystem interconncetion (online)
   • (Lecture4-1_odelinearization.pdf)
   • (Lecture4-2_interconnection.pdf)
5. 2022.05.13 Laplace transform
   • (Lecture5_laplacetransform.pdf)
6. 2022.05.20 Pole locations, final-value theorem (online)
   • (Lecture6-1_laplacetransform(con'd).pdf)
   • (Lecture6-2_polelocation.pdf)
   • (Lecture6-3_finalvaluetheorem.pdf)
7. 2022.05.27 Transfer function
   • (Lecture7_transferfunction.pdf)
8. 2022.06.03 Stability
   • (Lecture8_stability.pdf)
9. 2022.06.10 Feedback loop stability, tracking reference signal
   • (Lecture9_feedbackstability.pdf)
10. 2022.06.17 Internal model principle
    • (Lecture10_internalmodel.pdf)
11. 2022.06.24 Principle of the argument, Nyquist stability criterion
    • (Lecture11-1_principleargument.pdf)
    • (Lecture11-2_nyquistcriterion.pdf)
12. 2022.07.01 Examples of Nyquist criterion (online)
    • (Lecture10_nyquistexamples.pdf)
13. 2022.07.08 Stability margin, Bode plots (online)
    • (Lecture11-1_stabilitymargin.pdf)
    • (Lecture11-2_bode.pdf)
14. 2022.07.15 Bode plots examples, stability margin on Bode plots (online)
    • (Lecture12-1_bodeexamples.pdf)
    • (Lecture12-2_bodemargin.pdf)
15. 2022.07.22 Classroom: Introduction to control design, controller design by loop shaping
16. 2022.07.29 Classroom: Test

Video lectures

Week 2 (two video lectures)

Lecture 2-1

Lecture 2-2

Week 3 (one video lecture)

Lecture 3-1

Week 4 (two video lectures)

Lecture 4-1

Lecture 4-2

Week 6 (three video lectures)

Lecture 6-1

Lecture 6-2

Lecture 6-3

Week 11 (two video lectures)

Lecture 11-1

Lecture 11-2

Week 12 (one video lecture)

Lecture 12

Week 13 (two video lectures)

Lecture 13-1

Lecture 13-2

Week 14 (two video lectures)

Lecture 14-1

Lecture 14-2