Systems, Modeling, and Control II

Calendar

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	N2.1-2.3 and 2.5-2.6	Lab 1: parameter estimation
4	Electrical and electro-mechanical system transfer functions	N2.4 and 2.7-2.8
5	DC motor transfer function	Notes		Problem set 2 out Problem set 1 due
6	Poles and zeros; 1st order systems	N4.1-4.3	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 4.7-4.9
10	Examples of modeling and transfer functions	Notes		Problem set 4 out Problem set 3 due
11	Block diagrams; feedback	N5.1-5.2	Lab 3: proportional control of velocity (part I)
12	Analysis of feedback systems	N5.3
13	Quiz 1			Problem set 4 due
14	Stability; Routh-Hurwitz criterion	N6.1-6.3
15	Stability analysis	N6.4		Problem set 5 out
16	Steady state error analysis	N7.1-7.6	Lab 4: proportional control of velocity (part II)
17	Root locus introduction	N8.1-8.5
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: proportional-integral 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	Steady-state error compensation	N9.1-9.2	Lab 6: proportional-derivative control of position
23	Transient response compensation; transient and steady-state error compensation	N9.3-9.4
24	Compensation examples	Notes		Problem set 8 out Problem set 7 due
25	Feedback compensation and its physical realization	N9.5-9.6	Lab 7: design project (starts)
26	Feedback design examples	Notes
27	Quiz 2			Problem set 8 due
28	Frequency response; bode plots	N10.1-10.2
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, lead-lag compensators	N11.1-11.5
32	The state-space representation	N3.1-3.6	Lab 8: design project (cont.)	Problem set 9 due
33	Solving the state equations in the time and space domains	N4.10-4.11
34	State equation examples	Notes		Problem set 10 out
35	Stability and steady-state 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