UC Berkeley EE128/ME134 Fall 2015

Announcements

  • 9/29/2015 ``License Expired Error'' Make sure the license server PC has not crashed or been turned off.
  • 8/4/2015 Lab sections are 3 hours. Please check your schedule to make sure you have 3 hours available, or change lab section if needed!
  • 8/4/2015 Textbook: Control Systems Engineering,  N.S. Nise, Edition: 5th, 6th, or 7th is fine, ISBN:* 978-1118170519
  • 8/4/2015 See for 2015 student access to Matlab . (It is also available in instructional labs.)
  • Piazza for discussion and announcements. Piazza EE128/ME134


  • Wk # Lec # Date      
    Lecture
    Reading PS Lab
    1
    1 Thu 8/27 Overview, intro. to FB control, dynamic models slides Ch. 1. HW1 due 9/4 (SOL)
    no lab
    2
    2 Tue 9/1 Modeling in the frequency domain slides Ch. 2. HW2 due 9/11 (SOL)
    no lab
    2
    3 Thu 9/3 Modeling in the time domain slides Ch. 3.
    no lab
    3
    4 Tue 9/8 Modeling in the time domain App. G. HW3 due 9/18 (SOL - Rev. 9/30)
    Lab 1: Modeling Simulation in MATLAB / Simulink
    3
    5 Thu 9/10 Time response  slides Ch. 4
    Lab 1
    4
    6 Tu 9/15 Time response App. J. HW4 due 9/25 (SOL)
    Lab 2: Basic concepts in control system design
    4
    7 Thu 9/17 Stability slides Ch. 6
    Lab 2
    5
    8 Tue 9/22 Steady state errors slides Ch. 7 HW5 due 10/2 (SOL)
    no lab
    5
    9 Thu 9/24
    Steady state errors

    no lab
    6
    10 Tue 9/29 Root locus techniques  slides , AppM , Rule List Ch. 8 HW6 due 10/9 (SOL)
    Lab 3: Quanser hardware & proportional control
    6
    11 Thu 10/1 Design via root locus slides Ch. 9
    Lab 3
    7
    12 Tue 10/6
    Root Locus. Frequency response techniques slides Ch. 10 HW 7 due 10/16 (SOL) Lab 4: Model-based position control of a cart
    7 13 Thu 10/8
    Frequency response techniques

    Lab 4
    8
    14 Tue 10/13
    Frequency response techniques 

    Lab 5a  Magnetic levitation
    8 15 Thu 10/15 Design via frequency response slides Ch. 11 Lab 5a
    9 16 Tue 10/20 midterm review HW8 due 10/30 (SOL) no lab
    9 17 Thu 10/22 Midterm: HW1-7, lec 1-14, Ch 1-10, lab 1-4 
    101 Barker 330-5 pm

    Practice: (Sp15 MT1 and SOL) MT1 Solution
    no lab
    10
    18 Tue 10/27
    Design via frequency response ex11.2 ex11.3
    HW9 due 11/6 (SOL)
    Lab 5b: Magnetic levitation
    10
    19 Thu 10/29 Design via state space slides controllability (v3) notes Ch. 12 Ch. 5.7, 5.8
    Lab 5b:
    11
    20 Tue 11/3 Design via state space
    HW10 due 11/13 (SOL)
    Lab 6a:Pole placement for the inverted pendulum
    11
    21 Thu 11/5
    Design via state space (Observer)

    Lab 6a:
    12
    22 Tue 11/10
    Design via state space (integral control, separability )
    HW 11 due 11/20 (SOL)
    Lab 6b: Luenberger observer design for inverted pendulum
    12
    23 Thu 11/12 LQR Design LQR notes

    Lab 6b: 
    13
    24 Tue 11/17 Digital control  slides DT notes Ch. 13 HW 12 due 12/4 (SOL)
    Lab 6c: LQR controller design for inverted pendulum
    13
    25 Thu 11/19
    Digital control systems slides Ch. 13
    Lab 6c: 
    14
    26 Tue 11/24 Digital control systems slides

    no lab


    Thu 11/26
    Thanksgiving Holiday


    no lab
    15
    27 Tue 12/1 control with vision systems.
    Dynamic effects in visual closed-loop systems , slides from Prof. Jagersand
    Corke&Good
    TRA 1996
    Lab 6d: Self-erecting inverted pendulum
    15
    28 Thu 12/3 Course wrap up and review Fall 2011 Final and (sol)

    Lab 6d
    16

    Tue12/8 RRR Week, No Lecture

    no lab
    16

    Thu 12/9 RRR Week, No Lecture


    17

    Fri 12/18 Final Exam is Friday 12/18 7-10 pm 106 Stanley (Fa15 Solution)
    Sp15 final and Sp15 sol