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  1^{st} and 2^{nd} order system behavior (from the ODE)  Lecture 2 Slides (PDF  1.1MB) 
3  Translation and rotational mechanical system (in the flywheel)  
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, opamp The DC motor and its dynamics 
Lecture 6 (+ Lab) Slides (PDF  1.6MB) 
7  1^{st} and 2^{nd} order system characteristics: theory  Lecture 7 Slides (PDF  1.6MB) 
8  1^{st} and 2^{nd} order systems: observation on the flywheel  Lecture 8 (+ Lab) Slides (PDF) 
9 
Feedback TF, MATLAB^{©} LTI, and SISO tools Root locus (concept and observation) 

10  Drawing root locus (part I: theory)  
11 
Drawing root locus (part II: MATLAB and flywheel) Introduction to the class project, team arrangements 

12  P controlflywheel modeling  Lecture 12 Slides (PDF  1.1MB) 
13  P control on the flywheeleffect of gain  Lecture 13 (+ Lab) Slides (PDF  2.5MB) 
14  PI control on the flywheelsteady state error  Lecture 14 (+ Lab) Slides (PDF) 
15  Practice on root locus and Pcontrol  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 
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 05 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