| 1 |
Introduction; mechanical elements |
N1; notes |
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| 2 |
Solving ODEs; cruise control |
Notes |
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Problem set 1 out |
| 3 |
Laplace transforms; transfer functions; translational and rotational mechanical transfer functions |
N2.1-2.3 and 2.5-2.6 |
Lab 1: parameter estimation |
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| 4 |
Electrical and electro-mechanical system transfer functions |
N2.4 and 2.7-2.8 |
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| 5 |
DC motor transfer function |
Notes |
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Problem set 2 out
Problem set 1 due
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| 6 |
Poles and zeros; 1st order systems |
N4.1-4.3 |
Lab 2: characterization of DC motor |
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| 7 |
2nd order systems |
N4.4 - 4.6 |
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| 8 |
2nd order systems (cont.) |
Notes |
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Problem set 3 out
Problem set 2 due
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| 9 |
More than 2 poles; zeros; nonlinearities and linearization |
N2.10, 3.7, and 4.7-4.9 |
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| 10 |
Examples of modeling and transfer functions |
Notes |
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Problem set 4 out
Problem set 3 due
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| 11 |
Block diagrams; feedback |
N5.1-5.2 |
Lab 3: proportional control of velocity (part I) |
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| 12 |
Analysis of feedback systems |
N5.3 |
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| 13 |
Quiz 1 |
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Problem set 4 due |
| 14 |
Stability; Routh-Hurwitz criterion |
N6.1-6.3 |
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| 15 |
Stability analysis |
N6.4 |
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Problem set 5 out |
| 16 |
Steady state error analysis |
N7.1-7.6 |
Lab 4: proportional control of velocity (part II) |
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| 17 |
Root locus introduction |
N8.1-8.5 |
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| 18 |
Root locus example |
N8.6 |
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Problem set 6 out
Problem set 5 due
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| 19 |
Design of transient response using root locus |
N8.7 |
Lab 5: proportional-integral control of velocity |
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| 20 |
Positive feedback |
N8.9 |
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| 21 |
Examples of design via root locus |
Notes |
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Problem set 7 out
Problem set 6 due
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| 22 |
Steady-state error compensation |
N9.1-9.2 |
Lab 6: proportional-derivative control of position |
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| 23 |
Transient response compensation; transient and steady-state error compensation |
N9.3-9.4 |
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| 24 |
Compensation examples |
Notes |
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Problem set 8 out
Problem set 7 due
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| 25 |
Feedback compensation and its physical realization |
N9.5-9.6 |
Lab 7: design project (starts) |
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| 26 |
Feedback design examples |
Notes |
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| 27 |
Quiz 2 |
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Problem set 8 due |
| 28 |
Frequency response; bode plots |
N10.1-10.2 |
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| 29 |
Bode plot examples |
Notes |
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Problem set 9 out |
| 30 |
Gain margin and phase margin |
N10.7 |
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| 31 |
Design using the frequency response; lead, lag, lead-lag compensators |
N11.1-11.5 |
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| 32 |
The state-space representation |
N3.1-3.6 |
Lab 8: design project (cont.) |
Problem set 9 due |
| 33 |
Solving the state equations in the time and space domains |
N4.10-4.11 |
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| 34 |
State equation examples |
Notes |
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Problem set 10 out |
| 35 |
Stability and steady-state error in state space; controllability and observability |
N6.5, 7.8, 12.3, and 12.6 |
Lab 9: design project (concludes) |
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| 36 |
Optimal control; the minimum time problem |
Notes |
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| 37 |
Review: modeling and transfer functions |
Notes |
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Problem set 10 due |
| 38 |
Review: root locus, feedback design |
Notes |
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| 39 |
Review: frequency domain and design |
Notes |
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