| Wk # | Lec # | Date |
Lecture |
Reading | PS | Lab |
|---|---|---|---|---|---|---|
| 1 |
1 | Thu 8/27 | Overview, intro. to FB control, dynamic models slides | Ch. 1. |
HW1 due 9/4 soln |
no lab |
| 2 | 2 | Tue 9/1 | Modeling in the frequency domain slides | Ch. 2. |
HW2 due 9/11 soln |
no lab |
| 2 | 3 | Thu 9/3 | Modeling in the time domain slides | Ch. 3. note | no lab | |
| 3 | 4 | Tue 9/8 | Modeling in the time domain | App. G. , Ch4.3 | HW3 due 9/18 sol | Lab 1: Modeling Simulation in MATLAB / Simulink | 3 | 5 | Thu 9/10 | Time response slides | Ch. 4 | Lab 1 |
| 4 | 6 | Tue 9/15 | Time response | App. J. |
HW4 due 9/25 soln |
Lab 2: Basic concepts in control system design |
| 4 | 7 | Thu 9/17 | Block Diagrams, Stability, Steady State Error slides | Ch 5.2, 6.1, 7.2 |
Lab 2 |
|
| 5 |
8 | Tue 9/22 | Steady state errors slides Root locus intro | Ch. 7-7.7, 8.1-8.4 |
HW5 due 10/2 soln |
no lab |
| 5 |
9 |
Thu 9/24 |
Root Locus | Ch 8 | no lab |
|
| 6 |
10 | Tue 9/29 | Root locus techniques slides , AppM , Rule List | Ch. 8 | HW6 due 10/9 soln | Lab 3: proportional control |
| 6 |
11 | Thu 10/1 | Design via root locus slides | Ch. 9 | Lab 3 |
|
| 7 |
12 |
Tue 10/6 |
Frequency response techniques slides | Ch. 10 | HW7 due 10/23 soln | Lab 4: Model-based position control of a cart |
| 7 | 13 |
Thu 10/8 |
Frequency response techniques | |
Lab 4 |
|
| 8 |
14 |
Tue 10/13 |
midterm review |
|
no lab | |
| 8 | 15 | Thu 10/15 |
Midterm: HW1-6, lec 1-11, Ch 1-9, lab 1-4
take home time tba Practice: (Sp15 MT1 and SOL) F15 Soln S17 Soln Midterm F18: F18 MT and F18 SOL F19: SOL F20: SOL |
no lab | ||
| 9 | 16 | Tue 10/20 | Frequency response techniques | HW8 due 10/30 soln | Lab 5a quadrotor position control (tbd) | |
| 9 | 17 | Thu 10/22 | Design via frequency response slides ex11.2 | Ch. 11 | Lab 5a | |
| 10 |
18 |
Tue 10/27 |
Design via frequency response ex11.3 state space | Ch. 12.2 |
HW9 due 11/6 soln | Lab 5b: quadrotor position control (tbd) |
| 10 |
19 | Thu 10/29 | Design via state space slides controllability (v3) notes | Ch. 12 Ch. 5.7, 5.8 | Lab 5b: |
|
| 11 |
20 | Tue 11/3 | Design via state space | |
HW10 due 11/20 soln | Lab 6a:Pole placement for the inverted pendulum |
| 11 |
21 |
Thu 11/5 |
Design via state space (Observer) | |
Lab 6a: | |
| 12 |
22 |
Tue 11/10 |
Design via state space (integral control, separability ) LQR Design LQR notes | |
miniproject proposal | |
| 12 |
23 |
Thu 11/12 |
15 minute oral quiz on design from frequency response HW7-8 | mini-project proposal |
||
| 13 |
24 | Tue 11/17 | Digital control slides DT notes | Ch. 13 | HW 11 due 12/4 soln | Lab 6bc: Luenberger observer design and LQR controller design for inverted pendulum |
| 13 |
25 | Thu 11/19 | Digital control systems slides | Ch. 13 | Lab 6bc: | |
| 14 | 26 | Tue 11/24 | Digital control systems slides | |
mini project tbd | |
| Thu 11/26 | Thanksgiving Holiday | no lab | ||||
| 15 |
27 | Tue 12/1 |
control with vision systems. Dynamic effects in visual closed-loop systems , slides from Prof. Jagersand |
Corke&Good TRA 1996 |
mini project tbd | |
| 15 | 28 | Thu 12/3 | Course
wrap up and review
Fall 2018 Final and
(Fa18 Soln) Spring 2017 Final and soln |
mini-project tbd | ||
| 16 |
|
Tue 12/8 | RRR Week, No Lecture | |
|
mini-project due |
| 16 |
|
Thu 12/10 | RRR Week, No Lecture | |
||
| 17 |
|
Tue 12/15 |
Final Exam Tues 12/15 24 hour take home exam
(Fa18 Soln) (Fa15 Solution) Sp15 final and Sp15 sol |
|
|
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