Wk # | Lec # | Date |
Lecture |
Reading | PS | Lab | |
---|---|---|---|---|---|---|---|
1 |
1 | Thu 8/29 | Overview, intro. to FB control, dynamic models slides | Ch. 1. |
HW1 due 9/6 HW1 solutions |
no lab | |
2 | 2 | Tue 9/3 | Modeling in the frequency domain slides | Ch. 2. |
HW2 due 9/13 HW2 sol HW2-3 sol HW2-4 sol |
no lab | |
2 | 3 | Thu 9/5 | Modeling in the time domain slides | Ch. 3. note | no lab | ||
3 | 4 | Tue 9/10 | Modeling in the time domain | App. G. | HW3 due 9/20 sol | Lab 1: Modeling Simulation in MATLAB / Simulink | |
3 | 5 | Thu 9/12 | Time response slides | Ch. 4 | Lab 1 | ||
4 | 6 | Tue 9/17 | Time response | App. J. |
HW4 due 9/27 HW4 solutions |
Lab 2: Basic concepts in control system design | |
4 | 7 | Thu 9/19 | Stability slides | Ch. 6 |
Lab 2 |
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5 |
8 | Tue 9/18 | Steady state errors slides | Ch. 7 |
HW5 due 10/4 HW5 solutions |
no lab |
|
5 |
9 |
Thu 9/20 |
Steady state errors | |
no lab |
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6 |
10 | Tue 10/1 | Root locus techniques slides , AppM , Rule List | Ch. 8 | HW6 due 10/11 HW6 solutions | Lab 3: Quanser hardware & proportional control | |
6 |
11 | Thu 10/3 | Design via root locus slides | Ch. 9 | Lab 3 |
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7 |
12 |
Tue 10/8 |
Root Locus. Frequency response techniques slides | Ch. 10 | HW7 due 10/18 HW7 q123,5 sol HW7 q4 sol | Lab 4: Model-based position control of a cart | |
7 | 13 |
Thu 10/10 |
Frequency response techniques | |
Lab 4 |
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8 |
14 | Tue 10/15 |
Frequency response techniques |
|
Lab 5a Magnetic levitation | ||
8 | 15 | Thu 10/17 | Design via frequency response slides | Ch. 11 | Lab 5a | ||
9 | 16 | Tue 10/22 | midterm review | HW8 due 11/8 HW8 solutions | no lab | ||
9 | 17 | Thu 10/24 |
Midterm: HW1-7, lec 1-14, Ch 1-10, lab 1-4
room TBA Practice: (Sp15 MT1 and SOL) F15 Soln S17 Soln Midterm F18: F18 MT and F18 SOL F19: SOL |
no lab | |||
10 |
18 | Tue 10/29 |
Design via frequency response ex11.2 ex11.3 | HW8 due 11/8 | Lab 5b: Magnetic levitation | ||
10 |
19 | Thu 10/31 | Design via state space slides controllability (v3) notes | Ch. 12 Ch. 5.7, 5.8 | Lab 5b: |
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11 |
20 | Tue 11/5 | Design via state space | |
HW9 due 11/15 HW9 solutions | Lab 6a:Pole placement for the inverted pendulum | |
11 |
21 |
Thu 11/7 |
Design via state space (Observer) | |
Lab 6a: | ||
12 |
22 | Tue 11/12 |
Design via state space (integral control, separability ) | |
HW10 due 11/22 HW10 soln | no lab | |
12 |
23 | Thu 11/14 | LQR Design LQR notes | |
no lab | ||
13 |
24 | Tue 11/19 | Digital control slides DT notes | Ch. 13 | HW 11 due 12/6 HW 11 solutions | Lab 6bc: Luenberger observer design and LQR controller design for inverted pendulum | |
13 |
25 | Thu 11/21 | Digital control systems slides | Ch. 13 | Lab 6bc: | ||
14 | 26 | Tue 11/26 | Digital control systems slides | |
no lab | ||
Thu 11/28 | Thanksgiving Holiday | no lab | |||||
15 |
27 | Tue 12/3 |
control with vision systems. Dynamic effects in visual closed-loop systems , slides from Prof. Jagersand |
Corke&Good TRA 1996 |
Lab 6d: Self-erecting inverted pendulum | ||
15 | 28 | Thu 12/5 | Course
wrap up and review
Fall 2018 Final and
(Fa18 Soln) Spring 2017 Final and soln |
Lab 6d | |||
16 |
|
Tue 12/10 | RRR Week, No Lecture | |
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no lab | |
16 |
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Thu 12/12 | RRR Week, No Lecture | |
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17 |
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Thu 12/19 |
Final Exam Thur 12/19 1130 am.
(Fa18 Soln) (Fa15 Solution) Sp15 final and Sp15 sol |
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