Catalog Data 
ECEN 4138 (3). Control Systems Analysis.
Analysis and design of continuous time control systems using classical
and state space methods. Laplace transforms, transfer functions and
block diagrams. Stability, dynamic response, and steadystate analysis.
Analysis and design of control systems using root locus and frequency
response methods. Computer aided design and analysis. 
Credits and Design 
3 credit hours. Selected elective course. 
Prerequisite(s) 
ECEN 3300,
Linear Systems
Restricted to juniors/seniors. 
Corequisite(s) 
None. 
Instructor(s) 
John Hauser, Jason Marden, David Meyer, Lucy Pao. 
Textbook 
Gene F. Franklin, J. David Powell, Abbas EmamiNaeini,
Feedback Control of Dynamic Systems, 6th Edition, Pearson, 2010,
ISBN13 9780136019695. 
 

Course Objectives 
For students to:
 Understand how to create and use mathematical models of physical
systems and how to translate system specifications into such
models.
 Understand the benefits of feedback for control systems, such
as stabilization, robustness, and disturbance rejection.
 Know the tools available for design, analysis, and simulation
of control systems.

Learning Outcomes 
After taking this course students will be able to recognize and use
the following concepts, ideas, and/or tools:
 Modeling of physical systems,
including mechanical, electrical, electromechanical,
thermal, and fluidic systems using differential equations,
sdomain characterizations, and block diagrams.
 Properties of linear feedback systems,
including stability, sensitivity, achievability, and fundamental
disturbance rejection limits.
 Transient and steadystate analysis/design
of feedback, including basic feedback strategies such as P, PI,
lead, and lag compensators, root locus, Routh array, gain and phase
margin, achievable I/O maps, state feedback, and LQR/LQG.

Student Outcomes Addressed 
3a 
3b 
3c 
3d 
3e 
3f 
3g1 
3g2 
3h 
3i 
3j 
3k 
Math /Sci 
Exper iments 
Design 
Teams 
Engr Problems 
Respon sibility 
Oral 
Written 
Engr Solns Impact 
LL Learning 
Contem porary 
Tools 
H 

M 

L 






M 

Topics Covered 
 What is control? History and examples, plants, controllers, and block diagrams
 Why use feedback? Basic ideas
 Review: ODE's, convolution, impulse response, Laplace transform, and transfer
functions
 Modeling, Newton’s laws, Lagrange formulation, Differential and sdomain models
of mechanical, electrical, electromechanical, thermal, and fluidic systems
 Dynamic models and dynamic response in terms of sdomain specifications
 Block diagram manipulation and simplification
 Basic feedback loop and important closedloop maps including sensitivity and
complementary sensitivity
 Poles, zeroes and associated time responses, damping ratios, internal and
external stability, final value theorem
 Simple feedback types (P,P,D,PI,PD,PID) and their rule of thumb effects
 Routh stability criterion
 Root locus analysis and design
 Steadystate response, bandwidth, tracking and system type, interplay between
bandwidth and rise time
 Lead, lag and lead/lag design
 Nyquist theorem, gain and phase margins.
 Achievable I/O maps and interpolation conditions, design for desired closedloop maps.
 Small gain condition and stability robustness, interconnection structure, loop margins
and relation to gain/phase margins
 Phasevariables for ODE's, statespace quadruples, transfer function from
statespace representation
 State feedback and pole placement
 Observers and observer based controllers
 Sensitivity
