Control Systems II (227-0216)

Online Teaching Platform

All organisational matters will be dealt through the online platform Piazza, where you will find the lecture notes, the exercises with their solutions and the information about the office hours and the teaching assistants.

Using the Piazza platform you will be able to ask questions about the exercises or the lectures which can be answered by the assistants, the professor or even by your fellow classmates. We strongly encourage your participation in the discussions and forums in order to improve your understanding of the material. Unfortunately use of Piazza is restricted to those registered for the class.


The lectures will be video-taped. The link for the lecture podcasts will be active from the beginning of the semester. Please note that the dissemination of these lectures is covered by ETH policies and it is possible that they may not be available outside of the ETH domain.

Below you can find slides and other lecture material. The slides may be revised as errors are found or I think that I have a better way of presenting the material. The date of the latest revision is shown. Those dating from last year may differ from the current lectures, so check for updates just before the lecture.

If you find errors or typographical mistakes in the slides please let Prof. Smith know so that corrections can be made and posted here.

Lecture Lecture slides Extra material Last revised
01 Introduction 19.02.2020
02 Loopshaping design 26.02.2020
03 Weighted sensitivity 04.03.2020
04 Sensitivity function limits 11.03.2020
05 RHP pole/zero limitations SISO limitations 18.03.2020
06 SISO robustness 25.03.2020
07 State-space systems 01.04.2020
08 MIMO Stability and stabilisation Internal stability
MIMO Nyquist
09 MIMO systems MIMO RHP zeros 22.04.2020
10 MIMO robustness 29.04.2020
11 MIMO control design 06.05.2020
12 Sampled data control 13.05.2020
13 Digital controller design 20.05.2020
14 Respect the Unstable - -

Supplementary Material

Most of the lecture material can be found in the following text book: Multivariable Feedback Control (2nd Edition) , S. Skogestad and I. Postlethwaite, John Wiley and Sons, 2005. ISBN: 0-470-01168-8 (paperback).

The last lecture will include a video of the Gunter Stein lecture. This lecture was presented at the 1989 Control and Decision Conference and touches upon many of the topics covered in this course. In particular it analyses several technological failures from a control system point of view. The most compelling example is the then recent Chernobyl nuclear disaster and Dr. Stein describes the responsibility of the control system designers, and also control system educators, in this disaster. The material is technical but can be understood by those that have taken this course. He as written an accompanying paper.

The video by Dr. Gunter Stein can be found here: Respect the Unstable