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 |
|
|
|