Plant modelling in the time domain; analog, digital and hybrid systems. State-space models of continuous-time and discrete-time linear and nonlinear control systems. Sampling in the time domain. Equilibria and linearization. Time response of control systems in the time domain. Stability of state-space control systems in the time domain. Controller and observer design via pole placement.
Plant modelling in the frequency domain. Transfer functions, block diagrams, poles and zeros. Block diagram manipulation. Conversion between state space and transfer function models. Robustness and sensitivity to modelling errors. Time response of control systems in the frequency domain. Time response of first order systems and second order underdamped systems. Effects of additional poles and zeros on the system time response. Steady state errors for unity and non-unity feedback systems.
Stability of control systems in the frequency domain. Root locus techniques. Frequency response techniques. Bode plots. Nyquist stability criterion. Gain and phase margins. Control design via frequency response.
Advanced control design techniques. Linear Quadratic Regulator and Linear quadratic Gaussian control designs. Disturbance attenuation.