1. General scheme of a control system. High-gain feedback, robustness of feedback systems, linearity and bandwidth improvement by feedback, disturbance reduction
2. Loop Shaping: closed-loop stability, stability robustness (the complementary sensitivity function), disturbance attenuation and bandwidth (the sensitivity function), plant capacity (the input sensitivity function), measurement noise, command response (the closed-loop transfer function), performance robustness
3. Control system design procedure: basic steps, classical design goals and performance criteria
4. Truxal's result (steady-state errors and closed-loop poles and zeros)
5. Guillemin-Truxal design procedure
6. General scheme of an adaptive control system
7. Gradient identification algorithm
8. Pole placement adaptive control system