SES #  TOPICS  READINGS  LABS  KEY DATES 

1  Introduction; mechanical elements  N1; notes  
2  Solving ODEs; cruise control  Notes  Problem set 1 out  
3  Laplace transforms; transfer functions; translational and rotational mechanical transfer functions  N2.12.3 and 2.52.6  Lab 1: parameter estimation  
4  Electrical and electromechanical system transfer functions  N2.4 and 2.72.8  
5  DC motor transfer function  Notes 
Problem set 2 out Problem set 1 due 

6  Poles and zeros; 1st order systems  N4.14.3  Lab 2: characterization of DC motor  
7  2nd order systems  N4.4  4.6  
8  2nd order systems (cont.)  Notes 
Problem set 3 out Problem set 2 due 

9  More than 2 poles; zeros; nonlinearities and linearization  N2.10, 3.7, and 4.74.9  
10  Examples of modeling and transfer functions  Notes 
Problem set 4 out Problem set 3 due 

11  Block diagrams; feedback  N5.15.2  Lab 3: proportional control of velocity (part I)  
12  Analysis of feedback systems  N5.3  
13  Quiz 1  Problem set 4 due  
14  Stability; RouthHurwitz criterion  N6.16.3  
15  Stability analysis  N6.4  Problem set 5 out  
16  Steady state error analysis  N7.17.6  Lab 4: proportional control of velocity (part II)  
17  Root locus introduction  N8.18.5  
18  Root locus example  N8.6 
Problem set 6 out Problem set 5 due 

19  Design of transient response using root locus  N8.7  Lab 5: proportionalintegral control of velocity  
20  Positive feedback  N8.9  
21  Examples of design via root locus  Notes 
Problem set 7 out Problem set 6 due 

22  Steadystate error compensation  N9.19.2  Lab 6: proportionalderivative control of position  
23  Transient response compensation; transient and steadystate error compensation  N9.39.4  
24  Compensation examples  Notes 
Problem set 8 out Problem set 7 due 

25  Feedback compensation and its physical realization  N9.59.6  Lab 7: design project (starts)  
26  Feedback design examples  Notes  
27  Quiz 2  Problem set 8 due  
28  Frequency response; bode plots  N10.110.2  
29  Bode plot examples  Notes  Problem set 9 out  
30  Gain margin and phase margin  N10.7  
31  Design using the frequency response; lead, lag, leadlag compensators  N11.111.5  
32  The statespace representation  N3.13.6  Lab 8: design project (cont.)  Problem set 9 due 
33  Solving the state equations in the time and space domains  N4.104.11  
34  State equation examples  Notes  Problem set 10 out  
35  Stability and steadystate error in state space; controllability and observability  N6.5, 7.8, 12.3, and 12.6  Lab 9: design project (concludes)  
36  Optimal control; the minimum time problem  Notes  
37  Review: modeling and transfer functions  Notes  Problem set 10 due  
38  Review: root locus, feedback design  Notes  
39  Review: frequency domain and design  Notes 