Control System Design




Responsible Instructor: T.J.J. van den Boom (Ton)

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Course Contents:

State-space description of single-input, single-output linear dynamic systems, interconnections, block diagrams.
Linearization, equilibria, stability, Lyapunov functions and the Lyapunov equation
Dynamic response, relation to modes, the matrix exponential.
Realization of transfer function models by state space descriptions, coordinate changes, canonical forms.
Controllability, stabilizability, uncontrollable modes and pole-placement by state-feedback.
Application of LQ regulator.
Observability, detectability, unobservable modes, state-estimation observer design
Output feedback synthesis and separation principle.
Reference signal modeling, integral action for zero steady-state error;
Analysis in robust stability and robust performance.

Study Goals:

By taking this course, the student
- will be able to master the introduced theoretical concepts in systems theory and feedback control design
- will be able to practically apply these concepts to design projects and tasks
- and will be able to relate the learned concepts and techniques to other more specialized ones, to potentially integrate them by taking adjacent courses.

More specifically, the student will be able to:
- Translate differential equation models into state-space and transfer function descriptions
- Rationalize differences between state-space and transfer function approaches
- Linearize a system, determine its equilibrium points, analyze directly its local stability, leverage Lyapunov theory to study general stability properties
- Describe the effect of eigenvalue/pole locations to the dynamic system response in time/frequency domain. Contrast step and impulse responses. Analyze transients and steady-state
- Investigate model controllability. Formulate and apply the procedure of pole-placement by state-feedback, as well as LQ optimal state-feedback control
- Derive observability properties. Formulate and apply the procedure of state estimation and build converging observers
- Formulate the separation principle and employ it for the design of output feedback
- Build reference models and achieve zero steady-state error using integral control.

Education Method:

Lectures 4/0/0/0

Literature and Study Materials:

Textbook (its use is strongly recommended):

K.J. Astrom, R.M. Murray, Feedback Systems: An Introduction for Scientists and Engineers, Princeton University Press, Princeton and Oxford, 2009

Available online for download:


Written exam


3mE Department Delft Center for Systems and Control
© Copyright Delft Center for Systems and Control, Delft University of Technology, 2017.