COURSE OUTLINE

1. Introduction
   • Historical perspective
   • Feedback and Feedforward Control
   • Basic Control Loop
2. Modeling for control
   • Model forms
   • Mechanistic Models
3. Solution of Linear ODEs using Laplace transforms
   • Common Laplace transforms
   • Partial fraction expansion
4. Transfer function models of mechanical systems
   • Linearization of dynamical systems
   • Transfer functions and Block diagrams
5. Analysis of Continuous-time Linear Systems
   • Transfer function models
     • Poles and zeros
     • Stability
   • Frequency response
     • Bode diagrams
     • Filtering
     • Distortion
   • Modeling errors for linear systems
6. SISO Control System Analysis
   • Feedback structures
   • Nominal stability using frequency response
     • Nyquist stability criterion
     • Bode stability criterion
7. Synthesis of SISO Controllers
   • Model-based PID tuning
     • Direct synthesis
     • Internal model control
   • General formulation
     • SISO pole-placement approach
   • Smith Predictor for delay systems
8. SISO Control Design
   • Internal model principle
   • Feedforward control
     • Reference feedforward
     • Disturbance feedforward
   • Input saturation