| 1 | Introduction (PDF) |
| 2 | Frequency Response Bode Plot Rules (PDF) |
| 3 | Frequency Response (cont.) (PDF)
Gain / Phase Margins (PDF) |
| 4 | Bode Plot Exercises |
| 5 | Bode Plots for Unstable Open - Loop Systems |
| 6 | Root - Locus Review (PDF) |
| 7 | Root - Locus Examples |
| 8 | Compensation Design Principles (PDF) |
| 9 | Compensation Design Principles (cont.) |
| 10 | Proportional Control (PDF)
Extra Handout (PDF) |
| 11 | Lag and PID Compensation (PDF) |
| 12 | Lead and PID Compensation (PDF) |
| 13 | Examples (PDF) |
| 14 | High Frequency Roll-off
Notch and Plant Inversion (PDF) |
| 15 | Design Example Lead-Lag Compensation (PDF)
Extra Handout (PDF) |
| 16 | Examples (cont.) |
| 17 | More Examples |
| 18 | Control of Unstable Plants (PDF)
Extra (PDF) |
| 19 | Control of Unstable Plants (cont.) |
| 20 | Quiz |
| 21 | Models of Nonlinearities (PDF) |
| 22 | Common Effects of Nonlinearities (PDF) |
| 23 | Prof. David Trumper's Lecture |
| 24 | Describing Functions
Introduction and Motivation (PDF) |
| 25 | Describing Function Analysis (PDF) |
| 26 | Computing DFs |
| 27 | DF Analysis: Example 1, Stability of Boat Autopiloot |
| 28 | DF Analysis: Example 1 (cont.) |
| 29 | DF Analysis: Limit Cycling (PDF) |
| 30 | DF Analysis: Jump Resonance |
| 31 | DF-based Compensation Design |
| 32 | DF-based Compensation Design (cont.) |
| 33 | Phase-Plane Analysis
Introduction and Motivation (PDF) |
| 34 | Phase Plane Drawing Rules |
| 35 | Phase - Plane Example I Carry-on Suitcase |
| 36 | Phase - Plane Example II Satellite System |
| 37 | Phase - Plane Example III Satellite System |
| 38 | Phase - Plane and Parameter Dependence of System Dynamics |
| 39 | Phase - Plane and Parameter Dependence of System Dynamics (cont.) |
| Final Exam (3 hours) |