Sunday, 7 December 2008

Indonesian Space Sciences & Technology School

Principles of Automatic Control




Prof. John Deyst
Prof. Karen Willcox

NASA Ames Research Center pilot George E. Tucker evaluates perspective flight guidance displays being developed by a Boeing/Ames research team for "runway independent aircraft." (Image courtesy of NASA.)

Course Features

Course Description

The course deals with introduction to design of feedback control systems, properties and advantages of feedback systems, time-domain and frequency-domain performance measures, stability and degree of stability. It also covers root locus method, nyquist criterion, frequency-domain design, and state space methods.

*Some translations represent previous versions of courses


Writing Lab Reports

Here is a copy of the Results and Conclusions sections from a fairly good lab report (PDF). It's not perfect, but the author does a good job of labelling graphs and tables, referring to them in the text, and writing concise, relevant conclusions.
Notes on writing a lab report (handout from recitation five days after lecture #8) (PDF).

Lab Handouts

Lab #1 (PDF)
Lab #2 (PDF)

Skills Review

Further information on the Mathematical Knowledge Topics for each 16.06 lecture may be found in the Supplementary Math Notes (PDF), which are organized by 16.06 lecture topics and the associated Mathematical Knowledge Topics.
The following list of topics link to the corresponding entry in the table below.
  1. Course Introduction
  2. Introduction to Control Systems
  3. Control System Analysis and Design
  4. Disturbances and Sensitivity
  5. Steady-State Errors
  6. The s-Plane, Poles and Zeroes
  7. Transient Response Characteristics and System Stability
  8. Dominant Modes
  9. Transient Performance and the Effect of Zeroes
  10. The Effect of Zeroes
  11. State Space
  12. State Space Modeling
  13. More State Space Modeling and Transfer Function Matrices
  14. Quanser Model and State Transition Matrices
  15. Solutions of State Space Differential Equations
  16. Controllability


Lecture Notes

The blank areas found in the lecture notes below are intentional. Students are given the printed notes preceeding each lecture but are expected to fill in blank areas themselves based on the in-class content.
Supplements to the notes are available (PDF)
Module 1: Control System Analysis
1 Course Introduction (PDF)
2 Introduction to Control Systems (PDF)
3 Control System Analysis and Design (PDF)
4 Disturbances and Sensitivity (PDF)
5 Steady-State Errors (PDF)
6 S-Plane, Poles and Zeroes (PDF)
7 Transient Response and Stability (PDF)
8 Dominant Modes (PDF)
9 Transient Response and Performance (PDF)
10 Effects of Zeroes (PDF)
Module 2: State-Space Methods
11 State Space (PDF)
12 State Space Modeling (PDF)
13 More State Space Modeling and Transfer Function Matrices (PDF)
14 Quanser Model and State Transition Matrices (PDF)
15 Solutions of State Space Differential Equations (PDF)
16 Controllability (PDF)
17 Quiz 1
18 Controllability Continued (PDF)
19 State Space Design (PDF)
Module 3: Time Domain System Design
20 Proportional Control (PDF)
21 Control System Design (Time Domain) (PDF)
22 Root Locus Rules (PDF)
23 Root Locus Examples (PDF)
24 Root Locus Design (PDF)
25 Compensator Design (PDF)
Module 4: Frequency Domain System Design
26 Frequency Response Analysis (PDF)
27 Polar Plots (PDF)
28 Principle of the Argument and the Nyquist Stability Criterion (PDF)
29 Nyquist Examples See Lec 28 notes
30 More Nyquist Examples (PDF)
31 Quiz 2
32 Gain and Phase Margins (PDF)
33 The Gain-Phase Plane and Nichols Charts (PDF)
34 Open and Closed Loop Behavior and the Second Order System Paradigm (PDF)
35 Bode Diagrams (PDF)
36 First and Second Order System Bode Diagrams (PDF)
37 Compensation and Bode Design (PDF)
38 More Bode Design
39 Train Lecture (PDF)

Sumber: MIT Open Course Ware