Dynamics and control of systems
Also listed as: דינמיקה ובקרה של מערכות
Classical control rebuilt in state space, then observers, optimal control and the digital implementation. The course behind every guidance, navigation and motion-control job.
- Semester
- Semester B
- Weekly hours
- 4h
- Counts as
- Core: systems
- Interest areas
- Mechatronics and robotics · Aeronautics and space
Comes after
- Introduction to control
What it covers
State-space modelling
- Review of transfer functions, root locus, Bode and Nyquist
- State equations, linearisation, the matrix exponential and the transition matrix
- Similarity transforms and canonical forms
- Stability: eigenvalues, Lyapunov direct and indirect methods, BIBO against internal
Controllability, feedback and estimation
- Controllability and observability, Kalman rank tests, PBH, Gramians
- Minimal realisations and pole-zero cancellation
- State feedback and pole placement, Ackermann, integral action
- Full and reduced-order observers, Luenberger, the separation principle
Optimal, digital and nonlinear
- Linear quadratic regulator and the Riccati equation
- Introduction to LQG and the Kalman filter
- MIMO systems
- Discrete-time control: sampling, the z-transform, discretisation
- Introduction to nonlinear analysis: describing functions, phase plane
Results worth carrying out
State space
Controllability matrix
Observability matrix
Algebraic Riccati equation, LQR
Figures worth knowing
- Block diagrams
- Root locus, Bode and Nyquist plots
- Phase-plane portraits
- Pole maps in the s- and z-planes
- Step-response comparisons
Related courses
- 0542-4011Semester A · 3h
Research project for honours students 1
פרויקט מחקר למצטיינים 1
The honours research project, and the most direct on-ramp to a thesis in the catalogue. You pick a supervisor, produce results, and frequently continue the same problem into a masters.
Structures and computational mechanicsMechatronics and roboticsMiniaturised systems and materialsAeronautics and spaceEnvironment and energyFlow and thermal designMechanical design - 0542-4012Semester B · 3h
Research project for honours students 2
פרויקט מחקר למצטיינים 2
The continuation of the honours project, where the results get deep enough to defend. Under the direct track this is already the first part of the masters thesis.
Structures and computational mechanicsMechatronics and roboticsMiniaturised systems and materialsAeronautics and spaceEnvironment and energyFlow and thermal designMechanical design - 0542-4166Not fixed · 3h
Analytical mechanics
מכניקה אנליטית
Lagrangian and Hamiltonian mechanics: the reformulation that makes multibody dynamics, robotics and orbital mechanics tractable. It maps to no job title and improves your work in three tracks.
Structures and computational mechanicsAeronautics and spaceMechatronics and robotics - 0542-4420Semester A · 4h
Theory of machines
תורת המכונות
Linkages, cams and gears analysed and then synthesised. The course that makes a mechanism something you can specify rather than something you copy.
Mechanical designMechatronics and robotics
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The topic outlines are not official syllabi. The university publishes a catalogue blurb per course, not lecture-by-lecture material, so each outline describes what a course of that name, at those hours, with those prerequisites teaches at engineering schools generally, cross-checked against the standard textbook for the subject. Treat it as an informed map, not as a transcript of the lectures.