University of California Berkeley Department of Electrical Engineering and Computer Sciences EE128 Feedback Control Fall 2006 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 5th Edition Franklin Powell and Emami Naeini Addison Wesley Grading Homework 10 Lab 25 Midterm 25 Final 40 Course Instructor Prof Jose Carmena carmena eecs berkeley edu Office Phone 517 Cory Hall 510 643 2430 Graduate Student Instructor Bharathwaj Bart Muthuswamy mbharat imail EECS Berkeley EDU Office Phone 151M Cory Hall 510 643 8868 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 1 Syllabus for reference only Chapter 1 Overview 2 Dynamic Models 1st week 3 Dynamic Response 2nd week 4 Basic Properties of Feedback 3rd 4th week 5 The Root Locus Design Methods 5th 6th week 6 Frequency Response Design Method 7th 10th week Midterm 7 State Space Design 10th 14th week 8 Digital Control 14th week Review 15th week Final 12 14 2006 Section Overview 2 1 Dynamics of Mechanical Systems 7 2 Differential equations in state variable form 9 2 3 6 Linearization and scaling 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 7 3 Advantages system description block diagram 7 4 Analysis of the state equation 7 5 Control law design for full state feedback 7 7 Estimator Design 7 8 Compensator Design 8 1 Digitization 8 2 Dynamic Analysis of discrete systems 2