UC Berkeley EE128/ME134 Fall 2019

Announcements

  • 8/24/2019 Textbook: Control Systems Engineering,  N.S. Nise, Edition: 5th, 6th, or 7th is fine, ISBN:* 978-1118170519
  • 8/24/2019 See for 2019 student access to Matlab . (It is also available in instructional labs.)
  • Piazza for discussion and announcements. Piazza EE128/ME134



  • 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 solutions
    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
    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
    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
    7
    12 Tue 10/8
    Root Locus. Frequency response techniques slides Ch. 10 HW7 due 10/18 HW7 solutions Lab 4: Model-based position control of a cart
    7 13 Thu 10/10
    Frequency response techniques

    Lab 4
    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
    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:
    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 Lab 6b: Luenberger observer design for inverted pendulum
    12
    23 Thu 11/14 LQR Design LQR notes

    Lab 6b: 
    13
    24 Tue 11/19 Digital control  slides DT notes Ch. 13 HW 11 due 12/6 HW 11 solutions Lab 6c: LQR controller design for inverted pendulum
    13
    25 Thu 11/21 Digital control systems slides Ch. 13 Lab 6c: 
    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 2011 Final and (sol)
    Spring 2017 Final
    and soln
    Lab 6d
    16

    Tue 12/10 RRR Week, No Lecture

    no lab
    16

    Thu 12/12 RRR Week, No Lecture


    17

    Thu 12/13 Final Exam Thur 12/19 1130 am. (Fa18 Soln)
    (Fa15 Solution)
    Sp15 final and Sp15 sol