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Text Books:
• Stefani: Design of feedback control systems
• Chen: Analog and digital control system design
• Craig: Robotics
Reference:
• Nise: Control system engineering
• Dorf: Modern control technology
• Franklin: Feedback control of dynamic systems
• Rugh: Linear system theory
Goals:
The main objective of this course are to give an overview of the classical and modern
control theories in continuous and discrete time both, and extend their application to
control the industrial processes and robotic manipulators.
Pre-requisites:
Basic circuit theory (transient and steady-state analysis), Linear algebra (differential
equations, matrices, Laplace transforms), Modeling of simple electrical and
mechanical systems, Bode plots, Digital circuits theory, Electric machines, Basic
robotics (kinematics and dynamics).
Topic
1. Modeling of systems, block diagrams, signal flow graphs.
2. Transient and steady-state analysis of continuous-time linear time invariant
systems, system stability.
3. Natural and forced response, forced performance
4. Root locus analysis and design
5. Frequency domain analysis and design (Nyquist’s plots).
6. State-space analysis and design.
7. Digital control analysis and design
8. Analog PID controller design for an LTI process.
9. Digital PID controller design.
10. Control hardware components
11. Control of robotics manipulators: linear control, non-linear control.