Linear Control Systems

1. Introduction

Amin Rezaeizadeh

Fall 1397

Amin Rezaeizadeh Linear Control Fall 1397 1-1

Logistics

Lecturer: Amin Rezaeizadeh aminre@sharif.ir Office 717

Lectures: Sat. and Mon. 9:00 – 10:30

Lab: Tue 13:30 – 15:30
Exercise:

Assessment: 11 (final) + 6(Quiz) + 3(Lab)

There will be 2 Quizzes

Web-site: CW or http://control.ee.sharif.ir -> courses

Amin Rezaeizadeh Linear Control Fall 1397 1-2

Logistics

The course book

G.F. Franklin, J.D. Powell, A.

Emami-Naeini. Feedback Control of Dynamic
Systems. 4th international edition, Pearson
Higher Education, 2002

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 Course Planning

Introduction
Model formation, differential equations, linearization

Laplace transforms
Frequency domain analysis, stability, Nyquist plot, Bode plot
Second order systems
State variables, sensitivity
PID Control
Root locus method
Controller design in the time domain
Controller design in the frequency domain
Phase lead and phase lag compensation
Extension to the control structure: feedforward, cascade

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abb.com control.ee.ethz.ch

robohub.org airbus.com

Automatic Control
The Hidden Technology You Meet Every Day [Karl Aström]

Amin Rezaeizadeh Linear Control Fall 1397 1-8

 Introduction

Control
The Main Idea

Amin Rezaeizadeh Linear Control Fall 1397 1-9

 Introduction

Control
The Main Idea

model dynamics
ẋ = f(x, u, t)

feedback stability

Amin Rezaeizadeh Linear Control Fall 1397 1-10

 Introduction
Process Control Example

I Heater

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 Introduction
Process Control Example

I Heater

Plant

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 Introduction
Process Control Example

I Heater

Actuator Plant

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 Introduction
Process Control Example

I Heater

I
Control Actuator Plant

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 Introduction
Process Control Example

I Heater

T0 I
+
- Control Actuator Plant

T
Sensor
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 Introduction
Process Control Example

I Heater

T0 I
+
- Control Actuator Plant

T
++ Sensor
noise
Amin Rezaeizadeh Linear Control Fall 1397 1-16
 Introduction
Process Control Example

Tout

I Heater Tout

T0 I
+
- Control Actuator Plant

T
++ Sensor
noise
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Amin Rezaeizadeh Linear Control Fall 1397 1-18