课程简介
《控制原理》是机电类各专业的重要专业核心必修课程。课程的主要任务是通过课堂教学、实践等环节使学生掌握反馈控制系统的建模、分析与设计的基本原理和方法；掌握系统实验的技能，学会通过信息综合得到有效结论；掌握运用现代工具和软件对机械电子工程领域复杂工程问题进行仿真、分析和设计。
课程主要内容包括描述控制系统的数学模型及其建立方法，动态系统的暂态和稳态响应分析方法，用于系统分析、校正的根轨迹法、频域法和初步认识PID控制器。本课程以古典控制理论为核心，详细讨论了系统的稳定性、快速性、准确性的定性分析和定量计算，系统介绍了利用根轨迹分析系统性能的方法、频域中的稳定判据、性能分析和串联校正方法。
课程大纲
Introduction to Control Systems
Lecture 1 Introduction
Lecture 2 Open-Loop Control Versue Closed-Loop Control
Lecture 3 Types of Control Systems
Lecture 4 Composition of Closed-Loop Control Systems
Lecture 5 The Performance of Control Systems
Mathematical Modeling of Control Systems
Lecture 6 Introduction to Models of Control Systems
Lecture 7 Differential Equations
Lecture 8 The Laplace Transform (1)
Lecture 9 The Laplace Transform (2)
Lecture 10 Transfer Function
Lecture 11 Basic Factors and their Transfer Functions
Lecture 12 Block Diagram of Control Systems
Lecture 13 Transfer Functions of Control Systems
Lecture 14 Signal Flow Graph Models
Transient and Steady-State Response Analyses
Lecture 15 Introduction
Lecture 16 Time-Response of First-Order Systems
Lecture 17 Time-Response of Second-Order Systems (1)
Lecture 18 Time-Response of Second-Order Systems (2)
Lecture 19 Effects of a Third Pole and a Zero on the Second-Order System Response
Lecture 20 Higher-Order Systems
Lecture 21 Stability Analysis of LTI Systems (1)
Lecture 22 Stability Analysis of LTI Systmes (2)
Lecture 23 Stead-State Errors (1)
Lecture 24 Stead-State Errors (2)
Lecture 25 The Methods of Reducing Steady-State Error
The Root Locus Method
Lecture 26 Introduction of Root Loci
Lecture 27 The Root Locus Concept
Lecture 28 General Rules for Constructing Root Loci (1)
Lecture 29 General Rules for Construction Root Loci (2)
Lecutre 30 Sketch the Root Loci for Some Systems
Lecture 31 The Root Locus Approach to Control Systems analysis and Design
Lecture 32 Effects of the Addition of Poles and Zeros
Frequency Response Methods
Lecture 33 Basic Conceps of Frequency Response Methods
Lecture 34 Graphic Expression of Frequency Response
Lecture 35 Polar Plots of Basic Factors
Lecture 36 Polar Plots of Open-Loop Transfer Functions
Lecture 37 Bode Plots of Basic Factors
Lecture 38 Bode Plots of Open-Loop Transfer Functions
Lecture 39 Experimental Determination of Transfer Functions
Lecture 40 Nyquist Stability Criterion (1)
Lecture 41 Nyquist Stability Criterion (2)
Lecture 42 Applications of Nyquist Stability Criterion
Lecture 43 Relative Stability Analysis
Lecture 44 Correlation between Step Transient Response and Closed-Loop Frequency Response
Lecture 45 Performance Analysis by the Open-Loop Frequency Response
The Design of Feedback Control Systems
Lecture 46 Introduction to Design
Lecture 47 Cascade Lead Compensation
Lecture 48 Cascade Lag Compensation
Lecture 49 Cascade Lag-Lead Compensation
Lecture 50 PID Controllers
Lecture 1 Introduction
Lecture 2 Open-Loop Control Versue Closed-Loop Control
Lecture 3 Types of Control Systems
Lecture 4 Composition of Closed-Loop Control Systems
Lecture 5 The Performance of Control Systems
Mathematical Modeling of Control Systems
Lecture 6 Introduction to Models of Control Systems
Lecture 7 Differential Equations
Lecture 8 The Laplace Transform (1)
Lecture 9 The Laplace Transform (2)
Lecture 10 Transfer Function
Lecture 11 Basic Factors and their Transfer Functions
Lecture 12 Block Diagram of Control Systems
Lecture 13 Transfer Functions of Control Systems
Lecture 14 Signal Flow Graph Models
Transient and Steady-State Response Analyses
Lecture 15 Introduction
Lecture 16 Time-Response of First-Order Systems
Lecture 17 Time-Response of Second-Order Systems (1)
Lecture 18 Time-Response of Second-Order Systems (2)
Lecture 19 Effects of a Third Pole and a Zero on the Second-Order System Response
Lecture 20 Higher-Order Systems
Lecture 21 Stability Analysis of LTI Systems (1)
Lecture 22 Stability Analysis of LTI Systmes (2)
Lecture 23 Stead-State Errors (1)
Lecture 24 Stead-State Errors (2)
Lecture 25 The Methods of Reducing Steady-State Error
The Root Locus Method
Lecture 26 Introduction of Root Loci
Lecture 27 The Root Locus Concept
Lecture 28 General Rules for Constructing Root Loci (1)
Lecture 29 General Rules for Construction Root Loci (2)
Lecutre 30 Sketch the Root Loci for Some Systems
Lecture 31 The Root Locus Approach to Control Systems analysis and Design
Lecture 32 Effects of the Addition of Poles and Zeros
Frequency Response Methods
Lecture 33 Basic Conceps of Frequency Response Methods
Lecture 34 Graphic Expression of Frequency Response
Lecture 35 Polar Plots of Basic Factors
Lecture 36 Polar Plots of Open-Loop Transfer Functions
Lecture 37 Bode Plots of Basic Factors
Lecture 38 Bode Plots of Open-Loop Transfer Functions
Lecture 39 Experimental Determination of Transfer Functions
Lecture 40 Nyquist Stability Criterion (1)
Lecture 41 Nyquist Stability Criterion (2)
Lecture 42 Applications of Nyquist Stability Criterion
Lecture 43 Relative Stability Analysis
Lecture 44 Correlation between Step Transient Response and Closed-Loop Frequency Response
Lecture 45 Performance Analysis by the Open-Loop Frequency Response
The Design of Feedback Control Systems
Lecture 46 Introduction to Design
Lecture 47 Cascade Lead Compensation
Lecture 48 Cascade Lag Compensation
Lecture 49 Cascade Lag-Lead Compensation
Lecture 50 PID Controllers
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