Notes

Unit 1: Introduction to State-Space

• Part 1: Course Introduction and State-Space Representation [printout, quad]
• Part 2: Conversion from Transfer Functions [printout, quad]
• Part 3: DC Motor Example, Matlab [printout, quad]
  • Review of rotational mechanical systems (gears not covered) [printout, quad]
• Part 4: Linearization  [printout, quad]

Unit 2: State-Space Fundamentals

• Part 1: Solving the State Equation [printout, quad]
• Part 2: The Matrix Exponential [printout, quad]
• Part 3: Coordinate Transforms [printout, quad]
• Tutorial on Simulating Linear Systems in Matlab using lsim (external link)

Unit 3: Controllability and Observability

• Controllability [printout, quad]
• Observability [printout, quad]

Unit 4: Linear Algebra Review

• Linear Combinations, Span, and Independence [printout, quad]
• Subspaces, Basis, Dimension, and Rank [printout, quad]
• Eigenvectors and Eigenvalues [printout, quad]
• Finding Eigenvalues and Diagonalization [printout, quad]

Unit 5: Stability

• Stability [printout, quad]

Unit 6: Controller Design

• State Feedback: Part 1 [printout, quad]
  • Time response notes from 5821:
    • Poles and Zeros and First-Order Systems [1up, 4up]
    • Second Order Responses [1up, 4up]
    • Systems with Additional Poles or Zeros [1up, 4up]
• State Feedback: Part 2 [printout, quad]
• State Feedback for non-CCF Systems [printout, quad]
• State Feedback with Integral Control [printout, quad]
  • Review of steady-state error concepts (external link)
• State Observers: Part 1 [printout, quad]
• State Observers: Part 2 [printout, quad]
• Observer-Based Compensators [printout, quad]

Unit 7: Digital Controls

• Digital Control: Part 1 [printout, quad] (updated 5 August to correct small typos)
• Digital Control: Part 2 [printout, quad]