Week | Lecture # |
Date | Lecture |
Reading |
Homework | Lab |
---|---|---|---|---|---|---|
1 | 1 | Tue 1/20 | Overview, intro. to FB control, dynamic models slides | Ch. 1. | HW1 (due 1/30) sol | no lab |
2 | Thu 1/22 | Modeling in the frequency domain slides | Ch. 2. | |||
2 | 3 | Tue 1/27 | Modeling in the time domain slides | Ch. 3. | HW 2 (due 2/6) sol | clarification for question 4 | no lab |
4 | Thu 1/29 | Modeling in the time domain | App. G. | |||
3 | 5 | Tue 2/3 | Time response slides | Ch. 4 | HW 3 (due 2/13) sol | Lab 1: Modeling Simulation in MATLAB / Simulink |
6 | Thu 2/5 | Time response | App. J. | |||
4 | 7 | Tue 2/10 | Stability slides | Ch. 6 | HW 4 (due 2/20) sol | Lab 2: Basic concepts in control system design |
8 | Thu 2/12 | Steady state errors slides | Ch. 7 | |||
5 | 9 | Tue 2/17 | Steady state errors | HW 5 (due 2/27) sol | Lab 3: Quanser hardware & proportional control | |
10 | Thu 2/19 | Root locus techniques slides , AppM , Rule List | Ch. 8 | |||
6 | 11 | Tue 2/24 | Design via root locus slides | Ch. 9 | HW 6 (due 3/6) sol | |
12 | Thu 2/26 | Frequency response techniques slides | Ch. 10 | |||
7 | 13 | Tue 3/3 | Frequency response techniques | Lab 4:Model-based position control of a cart | ||
14 | Thu 3/5 | Frequency response techniques | ||||
8 | 15 | Tue 3/10 | midterm review | HW 7 (due 3/20) sol | no lab | |
16 | Thu 3/12 | Midterm (1230-2 pm, 160 Kroeber): HW1-6, lec 1-14, Ch 1-10, lab 1-4 midterm solutions | ||||
9 | 17 | Tue 3/17 | Design via frequency response slides | Ch. 11 | HW 8 (due 4/3) sol | Lab 5a Magnetic levitation |
18 | Thu 3/19 | Design via frequency response | ||||
3/23-3/27 | Spring break | |||||
10 | 19 | Tues 3/31 | Design via state space
slides
controllability (v3) notes |
Ch. 12 Ch. 5.7, 5.8 | HW 9 (due 4/10) sol | Lab 5b: Magnetic levitation |
20 | Thu 4/2 | Design via state space | ||||
11 | 21 | Tue 4/7 | Design via state space (Observer) | HW 10 (due 4/17) sol | Lab 6a:Pole placement for the inverted pendulum | |
22 | Thu 4/9 | Design via state space (integral control, separability ) | ||||
12 | 23 | Tue 4/14 | LQR Design LQR notes | HW 11 (due 4/24) sol | Lab 6b: Luenberger observer design for inverted pendulum | |
24 | Thu 4/16 | Digital control slides DT notes | Ch. 13 | |||
13 | 25 | Tue 4/21 | Digital control systems slides | Ch. 13 | HW 12 (due 5/1) sol | Lab 6c: LQR controller design for inverted pendulum |
26 | Thu 4/23 | Digital control systems slides | ||||
14 | 27 | Tue 4/28 | control with vision systems. Dynamic effects in visual closed-loop systems. | Corke&Good TRA 1996 | Lab 6d: Self-erecting inverted pendulum | |
28 | Thu 4/30 | Course wrap up and review Fall 2011 Final and (sol) | ||||
16 | Tue 5/5 | RRR Week, No Lecture | no lab | |||
Thu 5/7 | RRR Week, No Lecture | |||||
17 | Th 5/14 | Final Exam is Thursday 5/14 1510-1800
251 Hearst Gym Sp15 sol |