CDS 101/110 - Loop Shaping

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CDS 101/110a Schedule Recitations FAQ ()


The learning objectives for this week are:

  • Students should be to design a simple compensator with given performance and robustness (phase margin) specifications
  • Students should be analyze and understand the overall performance of the system using the Gang of Four
  • Students should compute the limits on the performance that arise from right half plane poles and zeros

Monday: Loop Shaping (Slides, MP3)

This lecture describes how to design a control system by converting the performance specifications to constraints on the loop transfer function, and then shaping the loop transfer function to satisfy the constraints. Sensitivity functinos are defined and tradeoffs between different input/output transfer functions are discussed.

Wednesday: Performance Limits (Slides, MP3)

This lecture investigates some of the limits of performance for feedback systems, including the effects of right half plane poles and zeros on the closed loop system performance. A magnetic levitation system and lateral control of the Caltech ducted fan are used to illustrate the basic concepts.

Friday: Recitation sections


  • K. J. Åström and R. M. Murray,, Princeton University Press, 2008..
    • CDS 101: Read sections 11.1, 11.3-11.4 [45 min]
    • CDS 110: Read sections 11.1, 11.2-11.5 [60 min]
    • CDS 210: Skim AM08 Ch 11.1-11.4, read AM08 11.5, DFT Ch 4 and 6 [90 min]



Monday <ncl>CDS 101/110 FAQ - Lecture 8-1, Fall 2008</ncl> Wednesday <ncl>CDS 101/110 FAQ - Lecture 8-2, Fall 2008</ncl> Homework <ncl>CDS 101/110 FAQ - Homework 7, Fall 2008</ncl>