Feedback Control for SISO Systems (M1-EEA)
Francesco FERRANTE (
).
Class schedule:
| Lesson |
Topic |
| 1 |
Control system design and linear models |
|
The process of control system design; The control problem; Transfer functions; Scaling; Deriving linear models; Control configurations. |
| 2 |
Feedback control and closed-loop performances |
|
Frequency response; Feedback control; Closed loop stability; Evaluating closed loop performance. |
| 3 |
Controller design - from tuning to shaping the closed-loop |
|
Classical controller design: tuning rules; Loop shaping; IMC design procedure and PID control for stable plants; Shaping closed loop transfer functions. |
| 4 |
Input-output controllability and perfect control |
|
Input-Output Controllability; Fundamental limitations on sensitivity; Perfect control and plant inversion; Ideal ISE optimal control. |
| 5 |
Fundamental limitations |
|
Limitations imposed by time delays, RHP-zeros, phase lag and unstable (RHP) poles; Perf. requirements imposed by disturbances and commands; Limitations imposed by input constraints and uncertainty; Controllability analysis with feedback & feedforward control. |
| Lab 1 |
Oscillating pulleys and Control
momentum gyroscope |
| Lab 2 |
Control momentum gyroscope |
Textbook:
S. Skogestad and I. Postlethwaite, "Multivariable Feedback Control: Analysis and Design", 2nd Ed.,
Wiley, 2007.
Handouts
Restricted access area
