University of California Berkeley Department of Electrical Engineering and Computer Science EE128 Feedback Control Fall 2004 Course Description Three hours of lecture and three hours of laboratory per week Analysis and synthesis of continuous and sampled data linear feedback control systems Advantages of feedback Design by root locus frequency response and state space methods with a comparison of techniques Prerequisite EE120 Textbook Feedback Control of Dynamic System 4th Edition Franklin Powell and Emami Naeini Addison Wesley Topics Covered Introduction to Control Systems Mathematical Modeling of Electrical and Mechanical Systems Block Diagram Manipulation State Variable Representation Time Domain Analysis PID controller Stability analysis of Control Systems Routh s stability criterion Root Locus Techniques Nyquist criteria Gain Margins Phase Margins Lead and lag compensator design State Variable Theory Coordinate transformation Canonical realization Controllability and observablility State feedback and estimator design Discrete time system Discrete controller design by emulation Z domain controller design Course Instructor Ping Hsu Office Cory 477 Phone and E mail 408 924 3902 pinghsu comcast net Grading Homework 10 Lab 25 Midterm 25 Final 40 1 Syllabus For reference only Chapter 1 Overview 2 Dynamic Models 1st week 3 Dynamic Response 2nd week 4 Basic Properties of Feedback 3 4th week 5 The Root Locus Design Methods 5 6th week 6 Frequency Response Design Method 7 8th week Midterm 7 State Space Design 9 11th week 8 Digital Control 12 14th week Section Overview 2 1 Dynamics of Mechanical Systems 2 2 Diff Equ in State variable form 2 6 Linearization 3 1 The Laplace transform 3 2 Block diagram 3 3 Response versus Pole locations 3 4 Time domain specification 3 5 Effects of zeros and additional poles 3 6 Stability Routh stability criterion 4 1 A case study of speed controller 4 2 The classical three term controller PID 4 3 Steady state Tracking and system type 5 1Root locus of a basic feedback system 5 2 Guidelines for sketching a root locus 5 3 Selected illustrative root loci 5 4 Selecting gain from the root locus 5 5 Dynamic compensation 6 1 Frequency response 6 2 Stability 6 3 The Nyquist Stability Criterion 6 4 Stability Margins 6 7 Compensation lead lag compensator 7 1 Advantages of state space 7 2 Analysis of the state equation 7 3 Control law design for full state feedback 7 5 Estimator Design 7 6 Compensator Design 8 1 Digitization 8 2 Dynamic Analysis of discrete systems 8 3 Design by Emulation 8 4 Discrete Design 8 5 State space design methods 2