Lectures & Labs

The course sessions include both lectures and combined lectures/labs. The slides and lab handouts used in class are presented in the table below.

There are additional materials and grading information below the table.

SES # TOPICS SLIDES AND HANDOUTS
1

Introduction to the class

From the physical model to the ordinary differential equation (ODE)

Lecture 1 Slides (PDF - 2.3MB)
2 1st and 2nd order system behavior (from the ODE) Lecture 2 Slides (PDF - 1.1MB)
3 Translation and rotational mechanical system (in the flywheel)

Lecture 3 (+ Lab) Slides (PDF - 1.4MB)

Description of the Experimental Rotational Plant (PDF)

4 Laplace transform, solving ODEs Lecture 4 Slides (PDF)
5

Transfer functions, poles, zeros

Observation of behavior based on transfer functions in the flywheel

Lecture 5 (+ Lab) Slides (PDF - 1.0MB)
6

Electrical elements R, L, C, op-amp

The DC motor and its dynamics

Lecture 6 (+ Lab) Slides (PDF - 1.6MB)
7 1st and 2nd order system characteristics: theory Lecture 7 Slides (PDF - 1.6MB)
8 1st and 2nd order systems: observation on the flywheel Lecture 8 (+ Lab) Slides (PDF)
9

Feedback TF, MATLAB© LTI, and SISO tools

Root locus (concept and observation)

Lecture 9 (+ Lab) Slides (PDF - 2.0MB)

10 Drawing root locus (part I: theory)

Lecture 10 Slides (PDF - 1.9MB)

Supplement to Lecture 10 (PDF)

11

Drawing root locus (part II: MATLAB and flywheel)

Introduction to the class project, team arrangements

Lecture 11 (+ Lab) Slides (PDF - 1.8MB)

Description of the Class Project (PDF - 1.2MB)

12 P control-flywheel modeling Lecture 12 Slides (PDF - 1.1MB)
13 P control on the flywheel-effect of gain Lecture 13 (+ Lab) Slides (PDF - 2.5MB)
14 PI control on the flywheel-steady state error Lecture 14 (+ Lab) Slides (PDF)
15 Practice on root locus and P-control No Slides (blackboard only)
16 & 17 PID control: speeding up and stabilization Lecture 16 & 17 (+ Lab) Slides (PDF - 1.7MB)
18 & 19 Control of an Inverted pendulum

No Slides

Supplement to Lectures 18 & 19 (+ Lab) (PDF)

Additional Materials

Tower SISO PID Controller: MATLAB Template (M)

  Laboratory Participation Grading

For each lab session, you receive a maximum of 3 points*:

  • 3 points for being exceeding well prepared and active
  • 2 points for being prepared on the lab material
  • 1 point if just showed up and remained passively attending throughout
  • 0 points if you don’t show up

*Except the first week’s lab, where you receive a grade of 3 just for showing up; and the last lab, where you are graded for the project demo on a 0-5 scale.

Project Grading

The project will be done in teams; members of the same team will receive the same project grades up to a maximum of 5 points, based on the project demo performance:

  • 5 points for superior grasp of the concepts and superior performance of the project outcome
  • 4 points for superior grasp of the concepts and adequate success in the project goals
  • 3 points for adequate grasp of the concepts and adequate success in the project goals
  • 2 points for adequate grasp of the concepts but with minimal success in meeting the project goals
  • 1 point for minimal grasp of the concepts governing the project challenge
  • 0 points for not showing up at the demo

Course Info

Learning Resource Types

notes Lecture Notes
assignment Problem Sets
grading Exams