| Wk # | Lec # | Date |
Lecture |
Reading | PS | Lab | |
|---|---|---|---|---|---|---|---|
| 1 |
1 | Thu 8/23 | Overview, intro. to FB control, dynamic models slides | Ch. 1. |
HW1 due 8/31 HW1 solutions |
no lab | |
| 2 | 2 | Tue 8/28 | Modeling in the frequency domain slides | Ch. 2. |
HW2 due 9/7 HW2 solutions |
no lab | |
| 2 | 3 | Thu 8/30 | Modeling in the time domain slides | Ch. 3. note | no lab | ||
| 3 | 4 | Tue 9/4 | Modeling in the time domain | App. G. | HW3 due 9/14 sol | Lab 1: Modeling Simulation in MATLAB / Simulink | |
| 3 | 5 | Thu 9/6 | Time response slides | Ch. 4 | Lab 1 | ||
| 4 | 6 | Tue 9/11 | Time response | App. J. |
HW4 due 9/21 HW4 solutions |
Lab 2: Basic concepts in control system design | |
| 4 | 7 | Thu 9/13 | Stability slides | Ch. 6 |
Lab 2 |
||
| 5 |
8 | Tue 9/18 | Steady state errors slides | Ch. 7 |
HW5 due 9/28 HW5 solutions |
no lab |
|
| 5 |
9 |
Thu 9/20 |
Steady state errors | |
no lab |
||
| 6 |
10 | Tue 9/25 | Root locus techniques slides , AppM , Rule List | Ch. 8 | HW6 due 10/5 HW6 solutions | Lab 3: Quanser hardware & proportional control | |
| 6 |
11 | Thu 9/27 | Design via root locus slides | Ch. 9 | Lab 3 |
||
| 7 |
12 |
Tue 10/2 |
Root Locus. Frequency response techniques slides | Ch. 10 | HW7 due 10/12 HW7 solutions | Lab 4: Model-based position control of a cart | |
| 7 | 13 |
Thu 10/4 |
Frequency response techniques | |
Lab 4 |
||
| 8 |
14 | Tue 10/9 |
Frequency response techniques |
|
Lab 5a Magnetic levitation | ||
| 8 | 15 | Thu 10/11 | Design via frequency response slides | Ch. 11 | Lab 5a | ||
| 9 | 16 | Tue 10/16 | midterm review | HW8 due 11/2 HW8 solutions | no lab | ||
| 9 | 17 | Thu 10/18 |
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 |
no lab | |||
| 10 |
18 | Tue 10/23 |
Design via frequency response ex11.2 ex11.3 | HW8 due 11/2 | Lab 5b: Magnetic levitation | ||
| 10 |
19 | Thu 10/25 | Design via state space slides controllability (v3) notes | Ch. 12 Ch. 5.7, 5.8 | Lab 5b: |
||
| 11 |
20 | Tue 10/30 | Design via state space | |
HW9 due 11/9 HW9 solutions | Lab 6a:Pole placement for the inverted pendulum | |
| 11 |
21 |
Thu 11/1 |
Design via state space (Observer) | |
Lab 6a: | ||
| 12 |
22 | Tue 11/6 |
Design via state space (integral control, separability ) | |
HW10 due 11/16 HW10 soln | Lab 6b: Luenberger observer design for inverted pendulum | |
| 12 |
23 | Thu 11/8 | LQR Design LQR notes | |
Lab 6b: | ||
| 13 |
24 | Tue 11/13 | Digital control slides DT notes | Ch. 13 | HW 11 due 11/30 HW 11 solutions | Lab 6c: LQR controller design for inverted pendulum | |
| 13 |
25 | Thu 11/15 | Digital control systems slides | Ch. 13 | Lab 6c: | ||
| 14 | 26 | Tue 11/20 | Digital control systems slides | |
no lab | ||
| Thu 11/22 | Thanksgiving Holiday | no lab | |||||
| 15 |
27 | Tue 11/27 |
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 11/29 | Course
wrap up and review
Fall 2011 Final and
(sol) Spring 2017 Final and soln |
Lab 6d | |||
| 16 |
|
Tue 12/4 | RRR Week, No Lecture | |
|
no lab | |
| 16 |
|
Thu 12/6 | RRR Week, No Lecture | |
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| 17 |
|
Thu 12/13 |
Final Exam Thur 12/13 1130 am.
(Fa18 Soln) (Fa15 Solution) Sp15 final and Sp15 sol |
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