A brief description of the 2.004 lab facilities and rules is provided for reference: (PDF)
The first six labs deal with a physical plant consisting of a rotational flywheel and motor, detailed in this handout: (PDF) (Courtesy Prof. Emanuel Sachs. Used with permission.)
The motor specification sheet may be found here (PDF)
Lab 1: Coulomb and Viscous Friction (PDF)
Lab 2: Characterization of Lab System Components (PDF)
Lab 3: Construction of a Proportional Velocity Controller (PDF)
Lab 4: Closed-loop Performance of a Proportional Velocity Controller (PDF)
Lab 5: Elimination of Steady-state Error Using Integral Control Action (PDF)
Lab 6: Closed-loop Position Control, and the Effect of Derivative Control Action (PDF)
The final set of lab projects involves the design of an active damping system for a skyscraper, including a set of MATLAB® files for simulating the tower and its vibrations.
Project Introduction (PDF)
Lab: Active Damping of Tall Building Vibrations (PDF 1) (PDF 2)
Tower Data (ZIP) (The ZIP file contains: 13 .m files.)
