(本页不再维护，更新版本见https://xunger99.github.io/xunger/，2023年5月)
Undergraduate course: 本页第三方资料仅供教学使用，版权方有任何意见请联系删除。
Control Theory
1. Objectives: Introduce the fundamentals of classical and modern control theories for undergraduates in College of Engineering. The graduate students in dynamics and control are welcome if their undergraduate trainning is not in control.
| Course Introduction | Chap 1 (Summary of the course, read it again in the end of the course) | |
| Fourier and Laplace transform |
 fourier.pdf
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Chap 2 (Read more references and develop insights of Fourier series, Fourier transform and Laplace transform) |
| Frequency domain and time domain model |
 demo0.rar
|
Chap 2.1-2.6 (omit: DC motor; Signal flow) ; Chap 3.1-3.3 |
| Frequency domain performance |
Chaps 4-5 (Example 4.4 can be omitted, or studied using MATLAB) |
|
| Root locus, Bode and Nyquist plots |
Non-linearities.pdf
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Chaps 6-8 (Go through all design examples. Adopts rlocus in MATLAB) |
| Frequency domain control design |
Bode’s Sensitivity Integral.pdf
|
Understanding PID controller, particular for the inverse pendulum case, using analysis tools taught in class, such as root locus, bode plot etc. |
| State space model |
demo1.rar
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Chap 3 (Conduct 3.9 with MATLAB yourselves) |
| State space methods | ||
| Review |
6. Course report and project
(1) Kalman filter introduction. References: kalman1960.pdf An Introduction to the Kalman Filter.pdf Understanding the Basis of the Kalman Filter Via a Simple and Intuitive Derivation.pdf
(2) 机器人实验，Reference: 
Lego实验设计(初稿).doc
(3) 倒立摆试验，inverted_pendulum_system_ref1.pdf 自平衡实验.rar 参考论文：Two-wheel robot control.pdf
The errata of the paper was prepared by the stundents (Hu Yishu, Lv Lu, Wang Zikang) taken the class. Error.pdf
In 2013 course, the best project report (of the MATLAB model) was developed by the group (Hu Yishu, Lv Lu, Wang Zikang). The model is attached here for future students as an example. I expect more works can be done to refine the model further. 
MatlabModel.zip
(4) OpenAI, 基于深度学习的控制例子，具体说明、设置、网络训练详见课堂资料。
* From 2020, every student is highly encouraged to move from MATLAB to Scilab or Gym.
7. Schedule (仅供参考，以课堂为准)
Backup (outdated)
每周四上课，双周二实验（实验安排听TA）
| Week/Date | Content and Venue | Note |
| 1 | Syllabus |
Reading: Chap 1 HWs: E1.2, E1.9, E1.10, P1.21, DP1.6 |
|
2 |
Lec 0 |
Reading: Chap 2 (omit the motor part, in Table 2.5 for example; omit the whole signal-flow graph part, i.e. Sec 2.7) HWs: 1. Go through Sec 2.9 by using MATLAB; 2. E2.5, E2.8, E2.21, E2.27, P2.43, CP2.6. |
|
3
|
State space and Laplace (I) |
Reading: Chaps 2-3 (omit all parts need signal-flow graph). HWs: 1. Go through Example 3.2 (omit signal-flow graph); 2. Go through Example 3.4; 3. Go through Sec 3.9 with MATLAB; 4. E3.19, P3.8. |
| 4 |
State space and Laplace (II) |
The same as 3. Deliver HW to TA this Friday. |
| 5 |
Transfer function and modes |
Reading: finish reading Chaps 1-3. |
|
6 |
Feedback system characteristics |
Reading: Chap 4 Self-test: E4.1-4.10 HWs: 1. P4.2, P4.7, P4.12 Deliver HW to TA this Friday. |
|
7 |
Feedback system performance |
Reading: Chap 5 Self-test: E5.1-5.2, E5.4, E5.5, E5.8-12, E5.17, E5.19
|
|
8 |
Feedback more and examples |
Reading: Finish reading Chaps 4-5 together HWs: P5.5-P5.7, AP5.1, AP5.4 Deliver HW to TA this Friday. |
|
9 |
Stability |
Reading: Chap 6. Self-test: E6.1-6.4, E6.7, E6.9-6-13, E6.22. HWs: P6.2, P6.10, P6.12, P6.17-6.18 Deliver HW to TA during the next lab. |
|
10 |
Mid-term exam |
考试时间：随堂，8:00-9:50；考试地点：上课教室 （作弊＝0分） |
|
11 |
Root locus |
Rading: Chap 7. HW: Announced during the class. Deliver HW to TA during the lab this Friday. |
|
12 |
Frequency response |
Reading: Chap 8. HW: E8.1, 8.5, 8.12-13, P8.6 |
|
13 |
Mid-term paper |
|
| 14 | Applications |
YoYo Control.pdf |
| 15 | Mock |
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