State Feedback Control


Upon completing this cousre students will have the following skills: to handle the main concepts and anaytical tools for continuous time dynamic systems specification, analysis and design, both in I/O formulation and state space formulation; basic analysis of nonlinear systems dynamic behaviour. He will be able to specify and implemet basic control systems, to evaluate control systems specifications and to proposedesign modifications.

The course aims to develop initiative, authonomy, implementation and group cooperation habilities. 

General characterization





Responsible teacher

Paulo José Carrilho de Sousa Gil


Weekly - 4

Total - 64

Teaching language



Basic skills for the study of dynamic systems:
 - differential equations
 - Laplace transform and its use on dynamic systems
 - transfer function, pole, zero
 - stability
 - frquency behavior 


Paulo Gil, Control Systems

B. J. Kuo , Automatic Control Systems

Katsyhiko Ogata " Modern Control Engineering",Prentice Hall

Katsyhiko Ogata " System Dynamics",Prentice Hall

Franklin; Powell; Emami-Naeini "Feedback Control of Dynamic Systems", Addison-Wesley

Teaching method

The course has classes and labs. On class the main concepts are presented and used, considering an analytical approach. During labs the techniques acquired are integrated into methodologies for problem solving, which are tested with actual problems. 

Evaluation method

Final grade = Examination mark × 0.70 + labwork mark × 0.30

2 assement quizzes: score = 0.5(1st test + 2nd test) > 9.5

Required 75% of attendance.

Subject matter

State space representation


State space

State space modelling

State space solution

Canonical forms and similarity transformations

Minimal order realizations

State space design of controllers and observers


Eigenvalues placement

Tracking control

State estimators design

Observer in the control loop

Minimal order observer

Nonlinear systems analysis


Phase plane analysis

Lyapunov sense stability 

Nonlinear Control


Differential geometry and topologies

Input-state linearization


Programs where the course is taught: