16.06
Principles of Automatic Control
Introduction to design of feedback control systems. Properties and advantages of feedback systems. Time-domain and frequency-domain performance measures. Stability and degree of stability. Root locus method, Nyquist criterion, frequency-domain design, and some state space methods. Strong emphasis on the synthesis of classical controllers. Application to a variety of aerospace systems. Hands-on experiments using simple robotic systems.
Fall 2012
Topics
- Why automatic control? Categorization of control systems
- Block diagrams, the effect of feedback
- Modeling principles
- Feedback diagram problems
- Block diagram manipulations, Mason’ rule
- Dynamic response of closed-loop systems
- Time-domain specifications
- Step response problems
- Effect of zeros
- The Routh criterion
- Routh array problems
- Effect of noise, steady-state errors
- PID control
- The root locus method
- Root locus problems
- Root locus rules
- Root locus rules, lead compensation
- Lag compensation
- Zero degree root locus
- Frequency response design
- Bode plot problems
- Bode plots (cont.)
- Bode diagram problems
- Complex poles and zeros, unstable poles, and non-minimum phase zeros
- The Nyquist stability criterion
- The Nyquist stability criterion (cont.)
- Nyquist plot problems
- Nyquist with poles on imaginary axis
- Stability margins, Bode gain-phase theorem
- Bode compensation
- PD controller design problem
- Lead compensation
- Lag compensation (cont.)
- Lead compensator design problem
- NMP systems
- The Nichols chart
- Digital control, the z-transform
- Compensation strategy design problem
- The z‐transform, design by emulation, the Tustin transform
- Nichols plot problem
- Compensator design examples, time delay of ZOH
- Discrete design
- The w-transform
- Discrete-time controller design problem
- Design examples, pre‐warping, direct design
- Higher harmonic control
- Discrete-time controller design problem and review
Readings
- [FPE] = Franklin, Gene, J. David Powell, and Abbas Emami–Naeini. Feedback Control of Dynamic Systems . 6th ed. Prentice Hall, 2009. ISBN: 9780136019695.
- SES #: L1–3 · TOPICS: Introduction · READINGS: [FPE] Chapters 1, 2, 3.1–3.4
- SES #: L4–6 · TOPICS: Dynamic response · READINGS: [FPE] Chapter 3.1, B
- SES #: L7–9 · TOPICS: Transient response and performance · READINGS: [FPE] Chapter 3.1–3.5
- SES #: L10–11 · TOPICS: Disturbances and sensitivity · READINGS: [FPE] Chapter 4.1–4.3
- SES #: L12–14 · TOPICS: Root locus techniques · READINGS: [FPE] Chapter 5.1–5.6
- SES #: L15–16 · TOPICS: Bode plots · READINGS: [FPE] Chapter 6.1
- SES #: L17–19 · TOPICS: Nyquist criterion · READINGS: [FPE] Chapter 6.2–6.3
- SES #: L20–21 · TOPICS: Gain and phase margins · READINGS: [FPE] Chapter 6.4
- SES #: L22–23 · TOPICS: Bode gain–phase theorem · READINGS: [FPE] Chapter 6.5
- SES #: L24–26 · TOPICS: Bode design · READINGS: [FPE] Chapter 6.6–6.7
- SES #: L29–34 · TOPICS: Digital control · READINGS: [FPE] Chapter 8
- The textbook for the class, available at the COOP or on Amazon, is:
- Franklin, Gene, J. David Powell, and Abbas Emami-Naeini. Feedback Control of Dynamic Systems . 6th ed. Prentice Hall, 2009. ISBN: 9780136019695.
- Van de Vegte, John. Feedback Control Systems . 3rd ed. Prentice Hall, 1994. ISBN: 9780002085069.
- Ogata, Katsuhiko. Modern Control Engineering . 4th ed. Prentice Hall, 2002.
- Kuo, Benjamin. Automatic Control Systems . 8th ed. John Wiley & Sons, 2003. ISBN: 9780471381488.
- Ogata, Katsuhiko. Solving Control Engineering Problems with MATLAB . Prentice Hall, 1993. ISBN: 9780130459077.
Prerequisites & course information
Prereq: 16.002 U (Spring) 3-1-8 units
Sources
- Course catalogue ↗2026–2027
- MIT OpenCourseWare ↗Fall 2012
- MIT OCW readings ↗
- MIT OCW calendar ↗
- MIT OCW syllabus ↗
- Historical MIT OpenCourseWare offering. Named reading entries and schedule topics are automatically extracted from the linked source pages.