151-0591-00L  Control Systems I

SemesterAutumn Semester 2022
LecturersE. Frazzoli
Periodicityyearly recurring course
Language of instructionEnglish
CommentNote: The previous course title in German until HS21 "Regelungstechnik I".


AbstractAnalysis and controller synthesis for linear time invariant systems with one input and one output signal (SISO); transition matrix; stability; controllability; observability; Laplace transform; transfer functions; transient and steady state responses. PID control; dynamic compensators; Nyquist theorem.
ObjectiveIdentify the role and importance of control systems in everyday life. Obtain models of single-input single-output (SISO) linear time invariant (LTI) dynamical systems. Linearization of nonlinear models. Interpret stability, observability and controllability of linear systems. Describe and associate building blocks of linear systems in time and frequency domain with equations and graphical representations (Bode plot, Nyquist plot, root locus). Design feedback controllers to meet stability and performance requirements for SISO LTI systems. Explain differences between expected and actual control results. Notions of robustness and other nuisances such as discrete time implementation.
ContentModeling and linearization of dynamic systems with single input and output signals. State-space description. Analysis (stability, reachability, observability, etc.) of open-loop systems. Laplace transformation, systems analysis in the frequency domain. Transfer functions and analysis of the influence of its poles and zeros on the system's dynamic behavior. Frequency response. Analysis of closed-loop systems using the Nyquist criterion. Formulation of performance constraints. Specification of closed-loop system behavior. Synthesis of elementary closed-loop control systems (PID, lead/lag compensation, loop shaping). Discrete time state space representation and stability analysis.
Lecture notesLecture slides and additional material will be posted online.
LiteratureThere is no required textbook.

A nice introductory book on feedback control, available online for free, is :

Feedback Systems: An Introduction for Scientists and Engineers
Karl J. Astrom and Richard M. Murray

The book can be downloaded at https://fbswiki.org/wiki/index.php/Main_Page
Prerequisites / NoticeBasic knowledge of (complex) analysis and linear algebra.
Fostered competenciesFostered competencies
Subject-specific CompetenciesConcepts and Theoriesassessed
Techniques and Technologiesnot assessed
Method-specific CompetenciesAnalytical Competenciesassessed
Decision-makingnot assessed
Media and Digital Technologiesnot assessed
Problem-solvingnot assessed
Project Managementnot assessed
Social CompetenciesCommunicationnot assessed
Cooperation and Teamworknot assessed
Customer Orientationnot assessed
Leadership and Responsibilitynot assessed
Self-presentation and Social Influence not assessed
Sensitivity to Diversitynot assessed
Negotiationnot assessed
Personal CompetenciesAdaptability and Flexibilitynot assessed
Creative Thinkingnot assessed
Critical Thinkingnot assessed
Integrity and Work Ethicsnot assessed
Self-awareness and Self-reflection not assessed
Self-direction and Self-management not assessed