Course: Regelsysteme II (ETH, Zurich)

Instructors: Manfred Morari and Franta Kraus

Level: Advanced undergraduate

Taught last time: Summer semester 2005

Textbook: S. Skogestad and I. Postlethwaite, Multivariable feedback control - analysis and design , Wiley.

The course notes (powerpoint files) are available here . If you are an instructur and would like to modify these for your own purposes, then please contact Professor Sigurd Skogestad [].
Professor Morari has selected to teach the material in a different order than that found in the book. Specifically, he starts with SISO systems, then system theory, before moving to MIMO systems:
  1. Introduction [Chapter 1]
  2. Classical feedback control [Chapter 2]
  3. Performance limitations SISO [Chapter 5]
  4. Uncertainty and robustness SISO [Chapter 7]
  5. Elements of linear systems theory [Chapter 4]
  6. Introduction to multivariable control [Chapter 3]
  7. Performance limitations MIMO [Chapter 6]
  8. Robust stability and performance MIMO [Chapter 8]
  9. Controller design [Chapter 9]
He also felt that there sometimes, for example for the interpretation of RHP-zeros, are given too many alternative interpretations, so he concentrated on fewer issues.