UC Berkeley EE128/ME134 Fall 2020

Announcements

  • 8/19/2020 Textbook: Control Systems Engineering,  N.S. Nise, Edition: 5th, 6th, or 7th is fine, ISBN:* 978-1118170519
  • 8/19/2020 See for 2020 student access to Matlab .
  • Piazza for discussion and announcements. Piazza EE128/ME134



  • 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 )
    miniproject proposal



    15 minute oral quiz on design from frequency response HW7-8

    12
    23 Thu 11/12 LQR Design LQR notes

    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