Analysis and Design of Feedback Control Systems

3-3-6 units · Undergraduate

Develops the fundamentals of feedback control using linear transfer function system models. Analysis in time and frequency domains. Design in the s-plane (root locus) and in the frequency domain (loop shaping). Describing functions for stability of certain non-linear systems. Extension to state variable systems and multivariable control with observers. Discrete and digital hybrid systems and use of z-plane design. Extended design case studies and capstone group projects. Students taking graduate version complete additional assignments. Enrollment may be limited due to laboratory capacity; preference to Course 2 majors and minors.

Spring 2014

Topics

Introduction; Overview of Control Systems; Magnetic Levitation Case Study
On / Off Control; 1 st and 2 nd Order Time Response; Multidomain Modeling
Proportional-Integral-Derivative (PID) Control; Root Locus
On / Off and Linear Control
Root Locus-Based Design
Overview of State-Space Models; Frequency Response; Sketching Bode Plots
Operational Amplifiers (Op-Amps) as Feedback Systems; Introduction to Loop Shaping Design
Nyquist Test; Phase Margin; Gain Margin
Thermal Control Loop
Loop Shaping Design; Sensitivity; Compensators: Lead, Lag, Resonant Notch
Loop Shaping Design (cont.)
PI and PID Controllers
Design Examples; Review
State Model Structures and Analysis
State Feedback
Op-Amp Circuit
Observers and State Feedback
Loop-Shaping View of State Feedback and Observers
Current-Control Loop
Discrete-Time Control Systems
Discrete-Time Control Systems (cont.)
Servomotor Velocity Control
Discrete-Time Control Systems (cont.); Case Studies
Nonlinear Systems; Nonlinear State Models; Linearization
Servomotor Position Control
Final Design Project: Introduction
Other Issues of Nonlinearity in Feedback Control Systems
Design Examples (cont.)
Design Project Check-Off Appointments
Design Project Check-Off Appointments (cont.)

Readings

Franklin, Gene F., J. David Powell, and Abbas Emami-Naeini. Feedback Control of Dynamic Systems . 6th ed. Prentice Hall, 2009. ISBN: 9780136019695.
Listed reading
Roberge, James K. Operational Amplifiers: Theory and Practice . John Wiley & Sons. 1975. This book is available as a free electronic textbook from Prof. James Roberge and MIT OpenCourseWare. ↗
Listed reading
Readings from the textbook are listed in the Readings section. ↗
Listed reading
[FPE] = Franklin, Gene F., J. David Powell, and Abbas Emami-Naeini. Feedback Control of Dynamic Systems . 6th ed. Prentice Hall, 2009. ISBN: 9780136019695.
Listed reading
[JKR] = Roberge, James K. Operational Amplifiers: Theory and Practice . John Wiley & Sons. 1975. This book is available as a free electronic textbook from Prof. James Roberge and MIT OpenCourseWare. ↗
Listed reading
[FPE] Chapter 1: An Overview and Brief History of Feedback Control.
Listed reading
[FPE] Chapter 2: Dynamic Models.
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[FPE] Chapter 3: Dynamic Response.
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[FPE] Chapter 5: The Root-Locus Design Method.
Listed reading
Rako, Paul. “ The West Bend No. 1 Electric-frying-pan Thermostat .” EDN Network . October 21, 2010. ↗
Listed reading
[FPE] Chapter 6: The Frequency-Response Design Method.
Listed reading
[JKR] Chapter 2: Properties and Modeling of Feedback Systems.
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[JKR] Chapter 3: Linear System Response.
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[FPE] Chapter 7: State-Space Design.
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[FPE] Chapter 8: Digital Control.
Listed reading
Weng, Ming-Chih, Xiaodong Lu, et al. “ Vibration Control of Flexible Beams Using Sensor Averaging and Actuator Averaging Methods .” Control Systems Technology, IEEE Transactions 10, no. 4 (2002): 568–77. ↗
Listed reading

Prerequisites & course information

Subject meets with 2.140 Prereq: 2.004 U (Spring) 3-3-6 units

Sources

Course catalogue ↗2026–2027
MIT OpenCourseWare ↗Spring 2014
MIT OCW syllabus ↗
MIT OCW readings ↗
MIT OCW calendar ↗
Historical MIT OpenCourseWare offering. Named reading entries and schedule topics are automatically extracted from the linked source pages.