1. Chapter 1
Introduction

2. Course Overview

3. Course content I Brief Intro to Simulation Models II Design Models
Equilibria and Linearization
Transfer Function Models
State Space Models
III PID Control Design
Pole Placement for Second Order Systems
Design Strategies for Second Order Systems
System Type and Integrators
Digital Implementation of PID Controllers
IV Root-locus-based Control Design
Root-locus Analysis, Stability, Performance
Dynamic Compensation
V Loopshaping Control Design
Frequency Response of LTI Systems
Frequency Domain Specifications
Stability and Robustness Margins
Compensator Design
VI Observer-Based Control Design
Full-State Feedback
Integrator with Full State Feedback
Observers

4. Design Study A: Single Link Robot Arm

5. Design Study B: Pendulum on a Cart

6. Design Study C: Satellite Attitude Control

7. Design Study D: Mass Spring Damper

8. Design Study E: Ball on Beam

9. Design Study F: Planar VTOL

10. What can feedback do for you?
Reduce your system’s sensitivity to disturbances
Reduce your system’s sensitivity to changes in its dynamics
Change the dynamics of your system
Can move the eigenvalues (aka poles, characteristic roots) to desirable locations in the s-plane
Improve stability properties
Improve system performance (e.g., speed of response, steady-state error, etc.)
Other stuff too!

11. Our big goal
Learn how to use feedback control to bring about desired behaviors in dynamic systems
Analysis
Design