ESE 406/505-MEAM 513 : Control Systems

Department of Electrical and Systems Engineering
University of Pennsylvania

Spring 2005

  • Announcements :

    • First class is on Tuesday January 11th 2005 in Towne 311 from 12:00-1:30pm.
    • I will be out of town on Thursday January 13th, so there will be no course lecture. The TAs will give a Matlab tutorial instead. If you are familiar with Matlab, you don't have to come.

  • Course Description: This course is an introduction to analysis and design of feedback control systems, including classical control theory in the time and frequency domain. Modeling of physical, biological and information systems using linear and nonlinear differential equations. Stability and performance of interconnected systems, including use of block diagrams, Bode plots, Nyquist criterion. Robustness and uncertainty management in feedback systems.
  • Suggested pre-requisites: Basic course on ordinary differential equations and linear algebra. For systems engineering students, knowledge of ESE 210 (SYS 200) is required.
  • Instructor:


  • Lectures: T- TR 12:00-1:30pm, Towne 311.
  • Textbook:
    • Feedback Control of Dynamic Systems, by Franklin, Powell and Emami Naieni, 4th Edition, Prentice Hall, 2002.
  • Other References:
    • Modern Control Systems, 9th Edition, by Dorf and Bishop, Prentice Hall, 2001.
    • Automatic Control Systems, by B. Kuo, Prentice Hall, 1995.
    • Modern Control Engineering, 4th Edition, by K. Ogata, Prentice Hall, 2001
  • Course Notes and Links Reading material for the class will be posted here, along with links to supplemental information.
  • Required reading sources


o        R. M. Murray (ed), Control in an Information Rich World: Report of the Panel on Future Directions in Control, Dynamics, and Systems, SIAM, 2002.
Available online at

    • K. J. Åström and Richard M. Murray, Analysis and Design of Feedback Systems, Preprint, 2004. Online access

o        J. Doyle, B. Francis, and A. Tannenbaum, Feedback Control Theory, McMillan, 1992. Online access.

  • Lecture 1 slides.

  • Online access