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EE
C128/
ME
C134
Feedback
Control Systems
Fall 2010
Instructor:
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Prof. Ronald
Fearing
Office Hours (725 Sutardja Dai Hall) Tues. 3-4 pm, Wed. 1-2 pm, or
email for appointment. |
Teaching
Assistants
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Jansen
Sheng, jsheng87@eecs, OH 204 Cory, Tues 2-3 pm
Wenjie Chen, wjchen@berkeley.edu, OH 204 Cory, Mon 130-230 pm
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Text
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G.F.
Franklin, J.D. Powell, and A. Emami-Naeini, Feedback Control of Dynamic Systems,
6th
or
5th
edition.
Note: Missing material from 6th edition can be
found at: www.FPE6e.com
Recommended : MATLAB & Simulink Student Version 2010a
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Web Forum
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EE
C128/
ME C134 Forum on b-Space
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Labs
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Tues 3-6 pm, Wed. 3-6 pm, Thu 3-6 pm, Fri 0900-1200.
Due to full lab sections, you may only attend your assigned lab.
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Current
Quote: |
``Education is what remains after one has forgotten everything
one learned in school.'' - Albert Einstein
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Previous Quote: |
``Knowledge in a book is like money lent
to a friend''
Sanskrit proverb, courtesy of Prof. Anant Sahai |
Current Announcements
Date
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10/28
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Fix on
lecture #18
example for modal form.
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10/22
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Fix on
lecture #16
output eqn for control canonical form.
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8/31
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Class moved to TuThu 11am-1230 pm 3106 Etcheverry from 9/2.
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8/21
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Discussion forum created on b-space.
All archival material will be on
http://www-inst.eecs.berkeley.edu/~ee128
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8/20
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Draft
syllabus posted under Handouts
draft Syllabus
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All Announcements
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Draft
Schedule (10/31/10)
Week
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Date
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Lecture
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Reading
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Lab
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1
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8/26
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Overview,
Intro to Feedback Control, Dynamic Models
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2
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2
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8/31
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Laplace,
LTI properties, Diff. equ. in state variable form
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3.1-3.2,
App A
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9/2
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linearization
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9.2
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3
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9/7
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pole-zero
locations and time response
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3.3-3.5
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Lab
1
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9/9
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stability,
Routh criteria
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3.6
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4
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9/14
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Case
study, PD control
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4.1,
4.2
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Lab
2
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9/16
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PID
control
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4.3
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5
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9/21
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Root
locus
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5.1-5.2
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9/23
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Root
loci examples
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5.3
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6
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9/28
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dynamic
compensation
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5.4
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Lab
3
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9/30
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Freq
response, Bode Plots
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6.1-6.2
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7
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10/5
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Nyquist
Stability criterion
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6.3
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Lab
4 pt1
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10/7
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stability
margins
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6.4-6.6
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8
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10/12
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Lead-lag
Compensation
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6.7
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Lab
4 pt2
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10/14
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Midterm
Review
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9
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10/19
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Midterm
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10/21
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State
space intro
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7.1-7.3
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10
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10/26
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Analysis
of state space equations
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7.4
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10/28
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solving
state space equations, transfer function, eAT
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Notes,
App C (5th
ed)
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11
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11/2
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controllability,
observability
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notes
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Lab
5a
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11/4
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state feedback and pole placement
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7.5, 7.6
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12
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11/9
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Observer Design
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F08 Lec 12
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Lab
5d
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11/11
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Veteran's Day
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13
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11/16
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Compensator
design/LQR
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Fa08 Lec #13
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Lab
5b
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11/18
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Linear
Quadratic Regulator
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notes
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14
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11/23
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Intro
to Discrete Time Control
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6.8,
8.1-8.3
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Holiday
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15
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11/30
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Case
Studies: bilateral telemanipulation
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Ryu et al. IEEE TRA vol. 20, no. 2, pp. 365
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Lab
5c
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12/02
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Final
Review
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Wed.
12/15, 8-11 AM
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Final
Exam
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