About the Tutorials

Conventions used in the tutorials
About the authors
More about automatic control

Matlab is an interactive program for numerical computation and data visualization; it is used extensively by control engineers for analysis and design. There are many different toolboxes available which extend the basic functions of Matlab into different application areas; in these tutorials, we will make extensive use of the Control Systems Toolbox. Matlab is supported on Unix, Macintosh, and Windows environments; a student version of Matlab is available for personal computers. For more information on Matlab, contact the Mathworks.

Conventions used in the tutorials

Throughout the tutorials, we will use the following conventions for Matlab input and output.

Matlab input commands will be displayed like this so they can 
easily be copied and and pasted into the Matlab window.  Actual Matlab 
commands will be shown in red.

Matlab's output will be displayed directly beneath like this.
If you find that the font is too hard to read, you can change the default font in your browser (under the Preferences menu in Netscape).

About the authors

These tutorials were developed by Professor Bill Messner of the Department of Mechanical Engineering at Carnegie Mellon University and Professor Dawn Tilbury of the Department of Mechanical Engineering and Applied Mechanics at the University of Michigan. Funding was provided by the National Science Foundation under grant number DUE 9554819. Most of the development work was done by undergraduate students Luis Oms (CMU), Joshua Pagel (UM), Yanjie Sun (UM), and Munish Suri (CMU) over the summer of 1996 and Christopher Caruana (UM), Dai Kawano (UM), Brian Nakai (CMU) and Pradya Prempraneerach (CMU) over the summer of 1997. Graduate student Jonathon Luntz (CMU) also contributed. A prototype set of tutorials, developed by Prof. Tilbury, won an Undergraduate Computational Science Award from the UCES Project, sponsored by the U.S. Department of Energy through the Ames Laboratory.

More about automatic control

If you are interested in learning more about the topic of automatic control, there are a multitude of resources both on the WWW and in the library. Professor Dennis Bernstein at the University of Michigan has written A Student's Guide to Classical Control. There is a Virtual Library on control engineering, and a newsgroup sci.engr.control devoted to control theory and practice.

There are many textbooks which treat the material covered in these tutorials, including:

  1. Richard C. Dorf and Robert M. Bishop, Modern Control Systems, Seventh Edition, Addison-Wesley, Reading, Massachusetts, 1995.
  2. Gene F. Franklin, J. David Powell, and Abbas Emani-Naeini, Feedback Control of Dynamic Systems, Third Edition, Addison-Wesley, Reading, Massachusetts, 1994.
  3. Benjamin C. Kuo, Automatic Control Systems, Seventh Edition, Prentice Hall, Englewood Cliffs, New Jersey, 1995.
  4. Norman S. Nise, Control Systems Engineering, Second Edition, Benjamin-Cummings, Redwood City, California, 1995.


Copyright (C) 1997 by the Regents of the University of Michigan. User agrees to reproduce said copyright notice on all copies of the software made by the recipient.

All Rights Reserved. Permission is hereby granted for the recipient to make copies and use this software for its own internal purposes only, under the conditions that this copyright message is retained intact and that no modifications are made to the software. Recipients of this software may not re-distribute this software outside of their own institution. Permission to market this software commercially, to include this product as part of a commercial product, or to make a derivative work for commercial purposes, is explicitly prohibited. All other uses are also prohibited unless authorized in writing by the Regents of the University of Michigan.

This software is offered without warranty. The Regents of the University of Michigan disclaim all warranties, express or implied, including but not limited to the implied warranties of merchantability and fitness for any particular purpose. In no event shall the Regents of the University of Michigan be liable for loss or damage of any kind, including but not limited to incidental, indirect, consequential, or special damages.

Basics | Modeling | PID | Root Locus | Frequency Response | State Space | Digital Control | Examples


8/14/97 DT