Stanford University

Lecture Notes for ENGR 105:

Feedback Control Design

Winter Quarter 2021

Abbas Emami-Naeini
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Copyright 2020, All Rights Reserved.

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Table of Contents
Chapter 1:
Definition of FB Control 1
History of FB Control 2
Applications of FB Control 3
Types of Control 4
Purposes of FB Control 5
Block Diagram 5
Cruise Control Example 8

Chapter 2:
DC Motor Example 10

Chapter 3:
( Impulse response first order system 13
Final Value Theorem {FVT) 14
Initial Value Theorem {IVT) 15
Transfer Function 16
First Order System 19
Second Order System 20
S-plane regions 24
Impulse response of SSOsystem 27
Step response of SSOsystem 28
Extra Zero 29
NMP system 30
Extra pole 32
Summary of dynamic response 32'
Bode form 32"
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 Dominant CL pair 33
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Example of extra pole and zero 34
Bounding envelopes 36
Block diagram algebra 37
Dynamic interpretation of poles & zeros 44

Stability 47
Routh-Hurwitz 51

Chapter 4:
Basic principles of FB 57
The "Gang of six'' 59
Sensitivity & complementary sensitivity functions 60
PID Control 62
P control 62
Integral control 64
Derivative control 69
PD control 70
PIO control 71

PIO tuning 71
System Type 76
System Type wrt disturbance 84

Internal Model Principle 90

Zeigler-Nichols PIO tuning 91
Sensitivity 93
Integrator anti-windup 94
Truxal's formula 97

Chapter 5:
The Root Locus Design Method 98

Root Locus Phase & Gain Criteria 99

 Root Locus Rules 103
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Root Locus Examples 108

Dynamic Compensator Design 119

Design procedure for Lead 122

Design procedure for Lag 129

Notch filter compensation design 132

Collocated vs non-collocated system 133

Extensions of Root Locus 134

Review of complex algebra 135'

Chapter 6:
Frequency Response Design Methods 136

Decibel (db) 139

Advantages of Bode frequency response 141

Bode Form 142

( Bode first order 144

Bode second order 147

Bode of 1/s and 1/s 2 149

Bode of s, K 150

Bode Examples 151

Bode plots in Matlab 156

Bode of NMP systems 157

Nyquist Stability Criterion 158

Nyquist plot shapes 170

Nyquist Examples 173

Stability Robustness Metrics GM, PM, CM 179

Bandwidth 192

Conditionally Stable Systems 195

Lead, Lag, Notch Design Using Bode 198

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 Lead design procedure 200
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Lag design procedure 209
Notch compensation 213
Frequency response of e·ts 217
Nyquist plot with time delay 218
Bode's gain-phase relationship 220
Bode's sensitivity integrals 222
Robust Stability 227
Fundamental diagram of FB control 229
Nichols Chart 230
Course Summary 236