Automatic Control Theory Tsinghua University

Automatic control theory is a core professional basic course in the automation discipline, and is also the theoretical basis for the research and design of complex engineering control systems. This course, also known as classical control theory, includes (1) Introduction to control systems, focusing on feedback principles; (2) Modeling of control systems, focusing on differential equations and mechanism method modeling, Laplace transform, and transfer functions. , frequency response model, data-driven model and the composition and block diagram transformation of typical control systems; (3) Analysis and performance evaluation of control systems, including the time response, structural properties, stability, steady-state accuracy, dynamic performance and timing of dynamic systems. Domain-frequency domain analysis method; (4) Frequency domain design of control system, PID controller and parameter tuning method, lead and lag correction.

• Chapter 1：introduction (8 minutes and 33 seconds)

• Chapter 2：Definition and properties of Laplace transform (1) (13 minutes and 41 seconds)

• Chapter 3：Definition and properties of Laplace transform (2) (23 minutes and 44 seconds)

• Chapter 4：Convolution definition, theorem and properties (13 minutes and 9 seconds)

• Chapter 5：Inverse Laplace Transform and Application (1): Definition of Inverse Laplace Transform (15 minutes and 41 seconds)

• Chapter 6：Inverse Laplace Transform and Application (2): Application of Inverse Laplace Transform (19 minutes and 58 seconds)

• Chapter 7：Basic concepts of control (11 minutes and 3 seconds)

• Chapter 8：Differential equation description of control system (1) (6 minutes and 1 seconds)

• Chapter 9：Differential equation description of control system (2) (7 minutes and 9 seconds)

• Chapter 10：Transfer function description of control system (1): Review of Laplace transform knowledge (8 minutes and 57 seconds)

• Chapter 11：Description of the transfer function of the control system (2): Description of the transfer function of the control system (5 minutes and 56 seconds)

• Chapter 12：Block diagram and its transformation (1): transfer function block diagram definition and connection method (6 minutes and 21 seconds)

• Chapter 13：Block diagram and its transformation (2): Transfer function block diagram transformation (19 minutes and 29 seconds)

• Chapter 14：signal flow diagram (17 minutes and 28 seconds)

• Chapter 15：Basic unit of control system (5 minutes and 35 seconds)

• Chapter 16：Linearization of nonlinear elements (5 minutes and 48 seconds)

• Chapter 17：stability (8 minutes and 2 seconds)

• Chapter 18：Stable Liapunov Definition (8 minutes and 49 seconds)

• Chapter 19：Algebraic criterion of stability (1): Routh criterion (16 minutes and 4 seconds)

• Chapter 20：Algebraic criteria for stability (2): Necessary conditions for system stability (4 minutes and 32 seconds)

• Chapter 21：parameter stability, parameter stability region (4 minutes and 36 seconds)

• Chapter 22：Static error (1): Definition of error and static error (4 minutes and 2 seconds)

• Chapter 23：Static error (2): static error and input (1 minutes and 44 seconds)

• Chapter 24：Static error (3): Calculation of static error (5 minutes and 51 seconds)

• Chapter 25：Static error (4): The relationship between system type and static error (6 minutes and 57 seconds)

• Chapter 26：Static Error (5): Physical and Theoretical Explanations of Static Error (8 minutes and 23 seconds)

• Chapter 27：Static error (6): static error caused by disturbance (10 minutes and 51 seconds)

• Chapter 28：Dynamic performance indicators (15 minutes and 38 seconds)

• Chapter 29：Second-Order Approximation of Dynamic Performance of Higher-Order Systems (11 minutes and 17 seconds)

• Chapter 30：Calibration of control systems (16 minutes and 36 seconds)

• Chapter 31：Introduction to frequency characteristics (4 minutes and 4 seconds)

• Chapter 32：Fourier transform (6 minutes and 19 seconds)

• Chapter 33：frequency characteristic function (6 minutes and 56 seconds)

• Chapter 34：Frequency Characteristics Image (14 minutes and 26 seconds)

• Chapter 35：Frequency characteristics of basic links (18 minutes and 38 seconds)

• Chapter 36：Drawing of complex frequency characteristics (1) (21 minutes and 52 seconds)

• Chapter 37：Drawing of complex frequency characteristics (2) (7 minutes and 16 seconds)

• Chapter 38：Drawing of complex frequency characteristics (3) (12 minutes and 10 seconds)

• Chapter 39：Closed loop frequency characteristics (8 minutes and 24 seconds)

• Chapter 40：Nyquist stability criterion (1) (9 minutes and 45 seconds)

• Chapter 41：Nyquist stability criterion (2) (15 minutes and 18 seconds)

• Chapter 42：Nyquist stability criterion (3) (8 minutes and 14 seconds)

• Chapter 43：Relative stability (stability margin) (5 minutes and 7 seconds)

• Chapter 44：Studying closed-loop system performance from open-loop frequency characteristics (9 minutes and 22 seconds)

• Chapter 45：Controller design ideas based on frequency characteristics (3 minutes and 28 seconds)

• Chapter 46：Introduction to root locus method (15 minutes and 30 seconds)

• Chapter 47：root locus conditions (11 minutes and 40 seconds)

• Chapter 48：root locus properties (30 minutes and 25 seconds)

• Chapter 49：Frequency Characteristics Image (15 minutes and 18 seconds)

• Chapter 50：conditionally stable system (8 minutes and 25 seconds)

• Chapter 51：The influence of poles and zeros on the root locus (21 minutes and 50 seconds)

• Chapter 52：Parametric root locus and root locus family (15 minutes and 25 seconds)

• Chapter 53：Root locus of delay system (23 minutes and 40 seconds)

• Chapter 54：Complementary root locus and full root locus (18 minutes and 33 seconds)

• Chapter 55：Calibration issues and how to implement them. (13 minutes and 25 seconds)

• Chapter 56：Calibration device design method (7 minutes and 33 seconds)

• Chapter 57：Characteristics of advance correction device (11 minutes and 37 seconds)

• Chapter 58：Design of advance correction device based on root locus method (27 minutes and 35 seconds)

• Chapter 59：Design of advance correction device based on Bode diagram (29 minutes and 42 seconds)

• Chapter 60：Characteristics of the hysteresis correction device (9 minutes and 20 seconds)

• Chapter 61：Design of lag correction device based on root locus method (24 minutes and 6 seconds)

• Chapter 62：Design of lag correction device based on Bode diagram (21 minutes and 10 seconds)

• Chapter 63：Characteristics of lead-lag correction devices (10 minutes and 35 seconds)

• Chapter 64：Design of lead-lag correction based on root locus method (19 minutes and 50 seconds)

• Chapter 65：Design lead-lag correction based on Bode diagram (18 minutes and 54 seconds)

• Chapter 66：Desired Frequency Characteristics of an Open Loop System (11 minutes and 53 seconds)

• Chapter 67：feedback correction (10 minutes and 40 seconds)

• Chapter 68：Experiment on linear inverted pendulum control system (11 minutes and 13 seconds)

• Chapter 69：Overview of Nonlinear Systems (16 minutes and 34 seconds)

• Chapter 70：Typical dynamic characteristics of nonlinear systems (28 minutes and 47 seconds)

• Chapter 71：Describe function method definition (21 minutes and 17 seconds)

• Chapter 72：Descriptive function method to obtain (25 minutes and 51 seconds)

• Chapter 73：Stability analysis based on description function (13 minutes and 3 seconds)

• Chapter 74：Analysis of self-sustained oscillations of nonlinear systems (26 minutes and 26 seconds)

• Chapter 75：Phase planes and phase trajectories (22 minutes and 42 seconds)

• Chapter 76：How to draw phase trajectories (19 minutes and 11 seconds)

• Chapter 77：Singular point (19 minutes and 45 seconds)

• Chapter 78：Phase plane analysis of linear systems (14 minutes and 11 seconds)

• Chapter 79：Phase plane analysis of nonlinear systems (40 minutes and 52 seconds)

• Chapter 80：Limit cycle and its conditions (16 minutes and 53 seconds)

• Chapter 81：Summary of nonlinear system analysis (4 minutes and 53 seconds)

• Chapter 82：Sampling Control System Overview (9 minutes and 52 seconds)

• Chapter 83：Pulse sampling and ideal sampling (15 minutes and 46 seconds)

• Chapter 84：Sampling theorem (8 minutes and 56 seconds)

• Chapter 85：zero order keeper (14 minutes and 33 seconds)

• Chapter 86：z-transform (9 minutes and 19 seconds)

• Chapter 87：Impulse transfer function (1) (23 minutes and 22 seconds)

• Chapter 88：Impulse transfer function (2): General method for finding impulse transfer function (10 minutes and 47 seconds)

• Chapter 89：Stability analysis of sampling systems in the z-plane (23 minutes and 8 seconds)

• Chapter 90：Stability analysis of sampling system in w-plane (20 minutes and 4 seconds)

• Chapter 91：Time domain analysis of sampled control systems (11 minutes and 50 seconds)

• Chapter 92：modified z-transform (11 minutes and 14 seconds)

• Chapter 93：State, state space, state space description (35 minutes and 37 seconds)

• Chapter 94：Interconversion of higher-order differential equations, transfer function matrices and state equations (1): spatial expressions and transfer function matrices of multiple-input multiple-output systems (8 minutes and 42 seconds)

• Chapter 95：Interconversion of higher-order differential equations, transfer function matrices and state equations (2): spatial expressions and transfer function matrices of combined systems (25 minutes and 52 seconds)

• Chapter 96：Interconversion of high-order differential equations, transfer function matrices and state equations (3): Time domain description and state space expression of the system (1) (11 minutes and 17 seconds)

• Chapter 97：Interconversion of high-order differential equations, transfer function matrices and state equations (4): Time domain description and state space expression of the system (2) (8 minutes and 47 seconds)

• Chapter 98：Write the state space expression from the simulation structure diagram (1): based on series and parallel decomposition (12 minutes and 40 seconds)

• Chapter 99：Write the state space expression from the simulation structure diagram (2): based on partial fraction decomposition (14 minutes and 50 seconds)

• Chapter 100：Write the state space expression from the simulation structure diagram (3): based on integrator string + constant feedback (15 minutes and 29 seconds)

• Chapter 101：Equivalent transformation of the system and its application (1) (18 minutes and 44 seconds)

• Chapter 102：Equivalent transformation of the system and its application (2) (15 minutes and 30 seconds)

• Chapter 103：Solutions to the state equation of linear continuous steady systems (1): Homogeneous equations (17 minutes and 55 seconds)

• Chapter 104：Solutions to the state equation of linear continuous steady systems (2): non-homogeneous equations (15 minutes and 50 seconds)

• Chapter 105：Definition, properties and algorithm of state transition matrix (1): Definition of state transition matrix (9 minutes and 53 seconds)

• Chapter 106：Definition, properties and algorithm of state transition matrix (2): Properties of state transition matrix (16 minutes and 39 seconds)

• Chapter 107：Definition, properties and algorithm of state transition matrix (3): Algorithm of state transition matrix (10 minutes and 20 seconds)

• Chapter 108：Definition of controllability and observability (1): Controllability and observability (6 minutes and 47 seconds)

• Chapter 109：Definition of controllability and observability (2): The concept of controllability (35 minutes and 46 seconds)

• Chapter 110：Definition of controllability and observability (3): Concept of observability (8 minutes and 37 seconds)

• Chapter 111：Criterion of controllability and observability (1): One form of the state controllability criterion (modal criterion) (12 minutes and 44 seconds)

• Chapter 112：Criterion of controllability and observability (2): The second form of the criterion of state controllability (algebraic criterion) (10 minutes and 50 seconds)

• Chapter 113：Criterion of controllability and observability (3): One form of the state observability criterion (modal criterion) (9 minutes and 42 seconds)

• Chapter 114：Criterion of controllability and observability (4): Form 2 of the state observability criterion (algebraic criterion) (5 minutes and 36 seconds)

• Chapter 115：principle of duality (14 minutes and 6 seconds)

• Chapter 116：State space structure of steady system (1): controllable state decomposition (24 minutes and 49 seconds)

• Chapter 117：State space structure of steady system (2): Observable state decomposition (11 minutes and 20 seconds)

• Chapter 118：The standard type that can be controlled and the standard type that can be observed: The standard type that can be controlled and the standard type that can be observed (18 minutes and 24 seconds)

• Chapter 119：Implementation issues, minimal implementation (1): controllable implementation and observable implementation of single variable systems (5 minutes and 32 seconds)

• Chapter 120：Implementation issues, minimal implementation (2): controllable implementation and observable implementation of multi-variable systems (11 minutes and 46 seconds)

• Chapter 121：Implementation issues, minimal implementation (3): minimal implementation issues (19 minutes and 17 seconds)

• Chapter 122：Status feedback and output feedback (17 minutes and 35 seconds)

• Chapter 123：The impact of feedback on controllability and observability (11 minutes and 31 seconds)

• Chapter 124：Pole configuration algorithm (1): Pole configuration algorithm (14 minutes and 20 seconds)

• Chapter 125：Pole configuration algorithm (2): Example of pole configuration (15 minutes and 12 seconds)

• Chapter 126：Pole configuration algorithm (3): Pole configuration algorithm (6 minutes and 21 seconds)

• Chapter 127：The problem of stabilization of systems in state space (11 minutes and 31 seconds)

• Chapter 128：Basic concepts of state observers (18 minutes and 12 seconds)

• Chapter 129：Design of full-dimensional observer (11 minutes and 40 seconds)

• Chapter 130：Dimensionality reduction observer (17 minutes and 11 seconds)

• Chapter 131：Reconstruct state feedback control system (8 minutes and 30 seconds)

• Chapter 132：Observation of disturbance quantity (6 minutes and 58 seconds)

• Chapter 133：basic concept (7 minutes and 12 seconds)

• Chapter 134：Complete invariance to external disturbances (15 minutes and 29 seconds)

• Chapter 135：Output static invariance to external disturbances (15 minutes and 23 seconds)

• Chapter 136：Anti-external disturbance control when status and external disturbances can be measured directly (7 minutes and 13 seconds)

• Chapter 137：Anti-external disturbance control with observer (11 minutes and 53 seconds)

• Chapter 138：Robust anti-external disturbance control under constant disturbance (18 minutes and 46 seconds)

• Chapter 139：Robust anti-external disturbance control under general disturbances (28 minutes and 3 seconds)

• Chapter 140：basic concept (12 minutes and 47 seconds)

• Chapter 141：Lyapunov method (23 minutes and 2 seconds)

• Chapter 142：How to construct Lyapunov function (20 minutes and 29 seconds)

• Chapter 143：Stability of Linear Steady Systems (19 minutes and 42 seconds)

• Chapter 144：Discrete system stability (20 minutes and 8 seconds)