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