Lecture notes and recordings for ECE4510/5510: Feedback Control Systems

To play any of the lecture recording files (below), QuickTime is required. This software may be downloaded (free) from http://www.apple.com/quicktime/download/. Each of the recordings is on the order of 20 to 30 minutes long, and between about 40 and 50 Mb in size.

If you are not registered at UCCS to take this course for credit, and if you wish to do so, please contact Dr. Gregory Plett using the information provided in the Section 0 notes.

This course can be taken at the graduate level as part of the Masters of Science in Electrical Engineering option in Battery Controls. See the IDEATE web site for more details.

0. Course introduction and syllabus. [PDF]
• 0: Course introduction and syllabus.
1. Introduction to feedback control. [PDF]
   • 1.1: What is feedback control.
   • 1.2: An illustrative example of a feedback control system.
   • 1.3: A first analysis: Auto cruise control.
   • 1.4: Examples of senior-design MSEE controls topics.
2. 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.
3. Dynamic response. [PDF]
   • 3.1: System response in the time domain.
   • 3.2: Transfer functions.
   • 3.3: The inverse Laplace transform.
   • 3.4: Time response versus pole locations.
   • 3.5: Time-domain specifications.
   • 3.6: Time response vs. pole locations: Higher-order systems.
   • 3.7: Changing dynamic response.
4. 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.
5. Stability analysis. [PDF]
   • 5.1: Bounded-input bounded-output (BIBO) stability.
   • 5.2: Routh-Hurwitz stability (cases 0 and 1).
   • 5.3: Routh-Hurwitz stability (cases 2 and 3).
   • 5.4: Routh test as a design tool.
   • 5.5: Advanced applications of the Routh test.
   • 5.6: Internal stability.
6. Root-locus analysis. [PDF]
   • 6.1: Manually plotting a root locus.
   • 6.2: Root-locus plotting rule #1.
   • 6.3: Root-locus plotting rule #2.
   • 6.4: Additional techniques.
   • 6.5: Some examples.
   • 6.6: A design example, and extensions.
7. Root-locus controller design. [PDF]
   • 7.1: Using root-locus ideas to design controller.
   • 7.2: Reducing steady-state error.
   • 7.3: Improving transient response.
   • 7.4: Examples (a).
   • 7.5: Examples (b).
   • 7.6: Compensator implementation.
8. 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.
9. Frequency-response design. [PDF]
   • 9.1: PD and lead compensation networks.
   • 9.2: Design method #1 for lead controllers.
   • 9.3: Design method #2 for lead controllers.
   • 9.4: PI and lag compensation.
   • 9.5: Design based on sensitivity.
   • 9.6: Robustness.
10. Digital controller implementation. [PDF]
    • 10.1: Some background in digital control.
    • 10.2: "Digitization" (emulation of analog controllers).
    • 10.3: The impact of the zero-order hold.