(227-0103-00L) Control Systems I (Regelsysteme I)

The course updates shall be made available on the Moodle website accessible to all registered students. Some basic information about the course can be found below. Please take a look at the ETH course catalogue as well. The official course language will be English.

Description and tentative contents

This is a control design course. I will assume you are familiar with open-loop system analysis in state space and frequency domain. We will briefly repeat all relevant concepts, but our focus will be on closing the loop.

Learning objectives: By the end of this lecture, you will know a variety of methods how to design optimal and robust controllers for linear single-input-single-output and multivariable systems.

Topics covered in the course include

  • modeling of dynamical systems and model conversions;

  • system analysis in state space and frequency domain (stability, robustness, etc.);

  • frequency-domain control design (PID, loop shaping, IMC, etc.);

  • state-space control and observer design;

  • optimal control and estimation (LQR an Kalman filter); and

  • augmented control architectures (2-DOF, anti-windup, cascaded control, etc.).

Pre-requisites

Signal and Systems II (227-0046-10L) or equivalents, basic Matlab skills, as well as sufficient mathematical maturity. In case of doubt, please contact me.

Lecture notes

  • We will mainly use the black board. Slides, supplementary notes, cheat sheets, and exercises will be made available on the Moodle platform.

  • There is no official textbook. We recommend the following books for self study:

    • K. J. Astrom & R. Murray. Feedback Systems: An Introduction for Scientists and Engineers. Princeton University Press, 2010. (Note: freely available online)

    • G. F. Franklin, J. D. Powell, and A. Emami-Naeini. Feedback Control of Dynamic Systems. Addison-Wesley, 2010. (Note: excellent reference for frequency domain)

    • J. Lunze. Regelungstechnik 1 & 2. Springer, Berlin, 2014. (Note: in German)

Accesss

The lectures are all video-streamed here (see here for the 2017 lecture). If you are not officially registered but want access to the slides, exercises, and other course material, then please send me an email.

If you have any questions about the course, please send me an email. I will try to respond promptly.