Syllabus

Basics of feedback control: History and motivation for feedback; terminologies, Frequency re- sponse, Stability concepts, Bandwidth, Transient response, Closed loop design specifications w.r.t tracking and disturbance rejection, Sensitivity to parameter variations.

Linear Control System Design Techniques: PD, PI and PID controllers, Lead and Lag com- pensators, Controller design with root locus technique, frequency response technique and state- space technique.

Introduction to Digital Controllers: Continuous versus digital control, Sampling theorem, ZOH, effect of sampling rate, Discretization of continuous transfer functions; Digital filters, dig- ital controller design usingtransformation techniques.

Limitations of performance in SISO Feedback systems: Time domain design limitations‐ In- tegrators and overshoots, Open RHP poles and overshoots, Open RHP zeros and undershoots, Frequency domain design specifications, Algebraic design tradeoffs, Analytic design tradeoffs, The Bode gain‐phase relation, The Bode sensitivity integral, The Poisson sensitivity integral, The Middleton Complementary sensitivity integral, The Poisson complementary sensitivity integral, Sensor noise vs. plant disturbance tradeoffs, uncertainty and other factors which impose funda- mental limits on feedback performance.