MAE 143B - Linear Control (Spring 2013)


Department of MAE, UCSD

Course web address:


Instructor: Prof. Miroslav Krstic, 1808 EBUI, 822-1374,

Office Hours: Friday, 2-3 pm


Text: Franklin, Powell, and Emami-Naeini, Feedback Control of Dynamic Systems (any of the last few editions).

Prerequisites: Signals and Systems MAE 143A (grade C- or higher)


Lecture Time and Place: TuTh 8:00-9:20 am, CENTR 113

Discussion/Problem Session (attendance mandatory): Fri 1:00-1:50 pm, CENTR 214


Section ID: 779990

First lecture: Tuesday, April 2

Midterm exam: Tuesday, May 7

Last lecture: Thursday, June 6

Last problem session: Friday, June 7

Final exam: Thursday, June 13

Holidays: none




·        Huazhen Fang (

·        Elena Menyaylenko (

·         Jacob Huffman (

·         Xin Zhao (



TA Office Hours:






11am – 12pm

Jacob Huffman
2205 WLH

Xin Zhao
2205 WLH

2pm– 3pm

Huazhen Fang
2205 WLH

Prof. Krstic
1808 EBUI


Elena Menyaylenko
305 EBU II



Grading:(click on highlighted items at bottom of page for problem sets)





Final Exam



Exam Policy:

1)    One sheet (front and back, i.e., 2 pages total) of your own handwritten notes (no shrunken photocopies).

2)    No graphing calculators.


Topics: Analysis and design of feedback systems in the frequency domain.  Transfer functions. Time response specifications.  PID controllers and Ziegler-Nichols tuning.  Stability via Routh-Hurwitz test.  Root locus method.  Frequency response: Bode and Nyquist diagrams. Dynamic compensators, phase-lead and phase-lag.  Actuator saturation and integrator wind-up.


Academic Dishonesty Policy: I plan on following the University rules on academic dishonesty (if you are considering taking chances, click here and read the lengthy Section 22.23).  As a page of notes and a simple calculator are allowed during exams, it is specifically forbidden to: 1) collaborate or look into someone else' s work or their notes, 2) share either your page of handwritten notes or your calculator.  It is unfortunate that exams are conducted in crammed conditions, so please keep your attention focused on your own work.  Even if I don't notice collaboration or peeking into your neighbor's work, keep in mind that if your work is similar to someone else's (and especially if it is so in an idiosyncratic or erroneous manner), this constitutes evidence of academic dishonesty.  Regarding homework, submitting work that is not your own constitutes academic dishonesty.  There are two penalties for academic dishonesty: (1) any form of it will result in a failing final grade in the course; (2) it is the instructor's responsibility to report all instances of academic dishonesty to the student's college.  I have been forced to pursue this procedure in the past and in the most serious case it has resulted in a student's suspension (even though it was the student's first offense).  What is important to note is that not just me, but also your colleagues are watching you and have as much interest in a fair grading environment as I do.  In most cases that I have pursued, the offending activities were reported to me by students in the class.




Scan of homework problems from the 5th edition


Due Thu 4/11

HW1: Transfer function algebra


Due Tue 4/16

HW2: Time response, performance specifications


Due Tue 4/23

HW3: Effects of feedback, PID control


Due Tue 4/30

HW4: Stability, Routh criterion, system types

HW4Solution HW4Solution (Updated)

Due Thu 5/16

HW5: Root Locus


Due Tue 5/28

HW6: Bode plots


Due Tue 6/4

HW7: Nyquist criterion



The graded homework assignments are in front of the lab 2101 in EBU 1.


Note: The homework problems have been selected from the 5th edition of the book. In other editions of the book, the order of problems has been changed. Please print the scan of the 5th edition from this web site, and solve the homework problems from this edition.



Fall 1998 Midterm (Solved)

Fall 1999 Midterm (Solved)

Fall 2000 Midterm (Solved)

Fall 2001 Midterm (Solved)

Spring 2005 Midterm (Solved)

Summer 2005 Midterm (Solved)

Spring 2006 Midterm (Solved)

Summer 2006 Midterm (Solved)

Spring 2007 Midterm (Solved)

Summer 2007 Midterm (Solved)

Spring 2008 Midterm II (Solved)

Spring 2009 Midterm I (Solved)

Spring 2009 Midterm II (Solved)

Spring 2011 Midterm (Solved) 

Spring 2012 midterm I (solved)

Spring 2012 midterm II (solved)

Spring 2013 Midterm (Solved)



Fall 1998 Final (Solved)

Fall 1999 Final (Solved)

Fall 2000 Final (Solved)

Fall 2001 Final (Solved)

Spring 2005 Final (Solved)

Spring 2006 Final (Solved)

Spring 2007 Final (Solved)

Summer 2007 Final (Solved)

Spring 2008 Final (Solved)

Spring 2009 Final (Solved)

Spring 2011 Final (Solved) 

Spring 2012 Final(Solved)

Spring 2013 Final(Solved)


Other Important Downloads:

Respect the Unstable

Bode Compensator Design