1. Frequency Response Bode and Nyquist plots Nyquist stability theorem
Closed loop response characteristics
Controller performance and design criteria

2. Concept

3. Definitions

4. Basic Theorem

5. Example

6. Bode Plot

7. Nyquist Plot

8. Bode Plot of PID Controller

9. Nyquist Stability Theorem

10. Example

11. Closed Loop Frequency Response
Complementary Sensitivity
Sensitivity

12. Example

13. Criteria for Controller Design
No steady state error
.Suppress noise in measurement
Provide good disturbance rejection as a wide a frequency range as possible.
Provide a high band width
Maximum closed loop modulus (Mp)

14. Robustness Measure

15. H2 Control Specifications

16. H Control Specifications