Handout 8: Lead compensation Eric Feron March 1, 2004 Lead Compensation goals: Raise phase( gain) at high frequen cies while not touching low-frequency system's characteristics: Can extend bandwidth of system. Canonical lead element:

Handout 7: Lag and PI compensation Eric Feron Lag Compensation goals: Raise gain at low frequencies while leaving rossover &z higher frequencies untouched b≥0. When b=0: Add an integrator in the loop Typical lag Bode Plot

美国麻省理工大学：《航空系统的估计与控制》教学资源（讲义）extra

Handout 4: Root-Locus Review Eric Feron Feb17,2004 Summary of Guidelines for plotting a root-locus 1. Mark Poles X and Zeros O 2. Draw the locus on the real axis to the left of an odd number of real poles plus zeros

Handout 3: Gain and Phase Margins for unstable systems Eric Feron Feb9,2004 Gain and Phase Margins exist for all systems, including the unstable ones Examplel

Handout 6: Proportional Compensation Eric Feron Feb25,2004 Plant under study: 1/10 G(s)=(s+1)(s/10+1)2 Compensation Scheme: We adjust the gain K in the feedback loop (draw the feedback loop below)

Handout 5: Control System Design Principles Eric Feron Feb20,2004 The standard feedback loop Draw the feedback loop here Tracking requirements:

Handout 2: Gain and Phase margins Eric Feron Feb6,2004 Nyquist plots and Cauchy's principle Let H(s) be a transfer function. eg H(s)= s2+s+1 (s+1)(s+3) Evaluate H on a contour in the s-plane. (your plots here)

Handout 1: Bode plot rules reminder Eric Feron Feb4,2004 General: Bode plot is to plot magnitudes using logarithm scale, phases using log scales. Indeed:

Partially Observable Markov Decision Processes Part II Additional reading: Anthony R. Cassandra. Exact and Approximate Algorithms for Partially Observable Markov Decision Processes. Ph. D. Thesis. Brown University Department of Computer Science, Providence, RI