Dr. Öğr. Üyesi Buse TACAL UCUN

Design of P, Lag, Lead and Lag-Lead Controllers via Bode plots

Revised: 29 March, 2026

KOM3712-Week5-LectureNotes.pdf

• Nichols Charts 
• Relation Between Closed-Loop Transient and Open-Loop Frequency Responses

KOM3712-Week4-LectureNotes.pdf

Stability, Gain Margin, and Phase Margin via Bode and Nyquist Plots 

KOM3712-Week3-LectureNotes.pdf

• The Nyquist Criterion
• Applying the Nyquist Criterion to Determine Stability

KOM3712-Week2-LectureNotes.pdf

• Recapture of Frequency Response Techniques: Terminology, Analytical Expressions
• Plotting Frequency Response, Bode Plots of 1st and 2nd Order Systems
• Corrections to 2nd Order Bode Plots, Bode Plots for Higher Order Systems

KOM3712-Week1-LectureNotes.pdf

• Bode Plot Construction for Higher-Order Systems
• Frequency Response of Systems with Time Delay
• Minimum and Nonminimum-Phase Systems
• Steady-State Error Analysis Using Bode Magnitude Plots

KOM3751-W14.pdf

Introduction to Frequency Response Techniques, Analytical Expressions and Bode Plots

• Frequency Response Methods 
• Analytical Derivation of Frequency Response
• Frequency Response Plot
• Bode Diagrams

KOM3751-W13.pdf

Revised: December 15, 2025

PID Tuning Methods and Practical Implementation Issues

• PID Control in Practice
• Ziegler–Nichols Tuning Rules (First and Second Method)
• Practical Issues in PID Implementation
• Anti-Windup Mechanisms

KOM3751-W12.pdf

• Lead Compensation
• PID Controller Design
• Lag–Lead Compensation
• Physical Realization of Compensators 
• Feedback Compensation

KOM3751-W11.pdf

• Root Locus–Based Controller Design
• Improving Steady-State Error
• PI Controller Design
• Lag Compensation
• PD Controller Design

KOM3751-W10.pdf

• Proportional Control (P)
• Integral Control (I)
• Derivative Control (D)
• Examples and Applications

KOM3751-W9.pdf

• Definition and characteristics of the root locus
• Relationship between open-loop and closed-loop poles
• Root Locus Sketching Rules
• Examples and Applications

KOM3751-W7.pdf

Stability Analysis via Routh-Hurwitz, Steady-State Error Analysis

• Routh–Hurwitz Special Cases: Case 1: Zero in the first column
• Routh–Hurwitz Special Cases: Case 2: Entire row of zeros 
• Steady-State Error Concepts
• Static Error Constants
• Disturbance Effects
• Non-Unity Feedback Systems

KOM3751-W6.pdf

Revised: 27.10.2025

Block Diagrams and Stability Analysis

• Components used in block diagrams
• Cascade, parallel, and feedback connections
• Block diagram reduction techniques (moving summing junctions and takeoff points)
• Transfer function derivation from block diagrams
• Mathematical definitions of stability:
  Asymptotic stability
  Instability
  Marginal stability
• BIBO (Bounded-Input, Bounded-Output) stability definition
• Stability of closed-loop systems: relation to pole positions (LHP, RHP, imaginary axis)

KOM3751-W5.pdf

• Second-order system characteristics: natural frequency and damping ratio
• Pole locations for overdamped, underdamped, critically damped, and undamped cases
• Step response of underdamped systems
• Mathematical derivation of time-domain parameters:​
• Relation between pole locations and time response
• MATLAB applications for time response analysis
• Systems with additional poles and zeros; second-order approximations
• Non-minimum phase systems and their step response characteristics

KOM3751-W4.pdf

Revised: 13.10.2025

Time Response for First, Second, and Higher Order Systems (Part I)

• Relationship between poles, zeros, and system response
• First-order systems: time constant, rise time, settling time

• Second-order system types and damping cases:

  • Undamped

  • Underdamped

  • Critically damped

  • Overdamped

KOM3751-W3.pdf

• Transfer Function

• Laplace Transformation Review

• Time-Domain Modeling

• State-Space Representation

KOM3751-W2.pdf

• Instructors
• Grading
• Textbooks
• Syllabus
• Course Content: Fundamentals of control systems; open-loop and closed-loop control concepts; historical and modern applications; control system design process and block diagrams; transient and steady-state response analysis.

KOM3751-W1.pdf