**Course introduction and syllabus.**[PDF]**Introduction to feedback control.**[PDF]**System modeling in the time domain.**[PDF]- 2.1: What is a model? Why do we need one?.
- 2.2: System properties of linearity and time invariance.
- 2.3: Dynamics of mechanical systems (translational).
- 2.4: Dynamics of mechanical systems (rotational).
- 2.5: Dynamics of electrical circuits.
- 2.6: Dynamics of electro-mechanical systems (etc.).
- 2.7: Linearization and analogous systems.

**Dynamic response.**[PDF]**Basic properties of feedback.**[PDF]- 4.1: Setting up an example to benchmark controllers.
- 4.2: Advantage of feedback: Disturbance rejection.
- 4.3: Advantage of feedback: Sensitivity and dynamic tracking.
- 4.4: Proportional-integral-derivative (PID) control (a).
- 4.5: Proportional-integral-derivative (PID) control (b).
- 4.6: Proportional-integral-derivative (PID) control (c).
- 4.7: Steady-state error (a).
- 4.8: Steady-state error w.r.t. reference input, unity feedback.
- 4.9: Steady-state error w.r.t. disturbance.

**Stability analysis.**[PDF]**Root-locus analysis.**[PDF]**Root-locus controller design.**[PDF]**Frequency-response analysis.**[PDF] (The MathWorks also has videos on some of these topics, which may be of interest.)- 8.1: Motivation to study frequency-response methods.
- 8.2: Plotting a frequency response.
- 8.3: Bode magnitude diagrams (a).
- 8.4: Bode magnitude diagrams (b).
- 8.5: Bode phase diagrams (a).
- 8.6: Bode phase diagrams (b).
- 8.7: Some observations based on Bode plots.
- 8.8: Stability revisited.
- 8.9: Interlude: Complex functional mapping.
- 8.10: Cauchy's theorem and Nyquist's rule.
- 8.11: Nyquist test example.
- 8.12: Nyquist test example with pole on j-omega axis.
- 8.13: Stability (gain and phase) margins.
- 8.14: Preparing for control using frequency-response methods.

**Frequency-response design.**[PDF]**Digital controller implementation.**[PDF]