Lectures: 2 sessions / week, 1.5 hours / session
Labs: 1 session / week, 1 hour / session
Problem sets are due in class as shown on the class schedule.
There will be two quizzes as shown on the class schedule.
There will be a three hour final examination (closed book) covering all of the course material during the final examination period; the exact time to be scheduled by the Registrar's Office.
3 points/problem: 3=perfect, 2=small mistake(s), 1=major mistake(s), 0=no attempt.
3 points/lab: 3=exemplary, 2=adequate, 1=fair, 0=inadequate or no show.
20% of the grade will be deducted for every working day past the due date (i.e., no credit after 5 days).
Collaboration is prohibited in the quizzes and the final examination. You are encouraged to discuss problem sets and lab assignments but you must write the solutions yourselves.
Use of material from previous years is forbidden.
|1||Introduction; mechanical elements|
|2||Solving ODEs; cruise control|
|3||Laplace transforms; transfer functions; translational and rotational mechanical transfer functions|
|4||Electrical and electro-mechanical system transfer functions|
|5||DC motor transfer function|
|6||Poles and zeros; 1st order systems|
|7||2nd order systems|
|8||2nd order systems (cont.)|
|9||More than 2 poles; zeros; nonlinearities and linearization|
|10||Examples of modeling and transfer functions|
|11||Block diagrams; feedback|
|12||Analysis of feedback systems|
|14||Stability; Routh-Hurwitz criterion|
|16||Steady state error analysis|
|17||Root locus introduction|
|18||Root locus example|
|19||Design of transient response using root locus|
|21||Examples of design via root locus|
|22||Steady-state error compensation|
|23||Transient response compensation; transient and steady-state error compensation|
|25||Feedback compensation and its physical realization|
|26||Feedback design examples|
|28||Frequency response; bode plots|
|29||Bode plot examples|
|30||Gain margin and phase margin|
|31||Design using the frequency response; lead, lag, lead-lag compensators|
|32||The state-space representation|
|33||Solving the state equations in the time and space domains|
|34||State equation examples|
|35||Stability and steady-state error in state space; controllability and observability|
|36||Optimal control; the minimum time problem|
|37||Review: modeling and transfer functions|
|38||Review: root locus, feedback design|
|39||Review: frequency domain and design|