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) | |
| 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) |
|
| 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 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 |
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
