### Course Meeting Times

Lectures: 2 sessions / week, 1.5 hours / session

Labs: Self-Scheduled, Several hours / week expected

### Prerequisites

Knowledge of classical control at the level of 2.14/2.010 or equivalent is assumed. Familiarity with linear algebra at the level of 18.06 is assumed. Exposure to modern control theory at the level of 2.151 is assumed.

### Textbook

The course text is: Franklin, Gene F., J. David Powell, and Michael L. Workman. *Digital Control of Dynamic Systems*. 3rd ed. Upper Saddle River, NJ: Prentice Hall, 1997. ISBN: 9780201820546.

### Laboratory Assignments

You will have approximately five laboratory projects in which you will explore topics such as sampling effects and digital filters, design and implementation of digital controllers for servomechanisms, state variable control and estimators, and modeling of plants using system identification techniques. You will do these labs individually. The labs finish with a 20 minute interview with a teaching assistant in the lab. The results of this checkoff (as expressed by your understanding of the lab subject matter and experimental results) will count 30% towards the lab grade. Each person will turn in a lab report, due at the time of the checkoff. Since it is essential that all your data and conclusions are available at the time of your checkoff, late lab reports will not generally be accepted.

### Problem Sets

These will be assigned on a regular basis, and are essential for understanding the class material. Cooperation among class members is permitted on the homework. It is important however that what you turn in accurately reflects your true understanding of the material.

### Computation

We will be using MATLAB® and Simulink® on both MIT servers and on the lab PCs, to support both the problem sets and the lab assignments.

### Grading

ACTIVITIES | PERCENTAGES |
---|---|

Problem Sets | 20% |

Laboratory Assignments | 20% |

Two Quizzes | 25% |

Final | 35% |

Late problem sets will not be accepted. The quizzes and final are closed-book. However, in the exams, one or two crib sheets will be permitted. The two quizzes will be held in-class during Lec #12 and Lec #21. The final exam will occur during the regular final examination period, as scheduled by the registrar. The final will be 3 hours in length.

### Calendar

WEEK # | KEY DATES |
---|---|

1 | Problem set 1 start |

2 |
Problem set 1 due Problem set 2 start |

3 | Problem set 2 due |

4 | Problem set 3 start |

5 |
Problem set 3 due Problem set 4 start Lab 1 due |

6 |
Problem set 4 due Problem set 5 start |

7 | Problem set 5 due |

8 | Lab 2 due |

9 | Problem set 6 start |

10 | Design Problem start |

11 |
Problem set 6 due Design Problem due |

12 | Final Design Project start |

13 | Final Design Project midpoint checkoffs |

14 | Final Design Project due |