UC Berkeley EE128/ME134 Spring 2015

Announcements

  • 1/16/2015 See Piazza for discussion and announcements. Piazza EE128/ME134
  • 1/18/2015 See for 2015 student access to Matlab . (It is also available in instructional labs.)


  • Week Lecture #
    Date Lecture
    Reading
    Homework Lab
    1 1 Tue 1/20 Overview, intro. to FB control, dynamic models slides Ch. 1. HW1 (due 1/30) sol no lab
    2 Thu 1/22 Modeling in the frequency domain slides Ch. 2.
    2 3 Tue 1/27 Modeling in the time domain slides Ch. 3. HW 2 (due 2/6) sol | clarification for question 4 no lab
    4 Thu 1/29 Modeling in the time domain App. G.
    3 5 Tue 2/3 Time response  slides Ch. 4 HW 3 (due 2/13) sol Lab 1: Modeling Simulation in MATLAB / Simulink
    6 Thu 2/5 Time response App. J.
    4 7 Tue 2/10 Stability slides Ch. 6 HW 4 (due 2/20) sol Lab 2: Basic concepts in control system design
    8 Thu 2/12 Steady state errors slides Ch. 7
    5 9 Tue 2/17 Steady state errors HW 5 (due 2/27) sol Lab 3: Quanser hardware & proportional control
    10 Thu 2/19 Root locus techniques  slides , AppM , Rule List Ch. 8
    6 11 Tue 2/24 Design via root locus slides Ch. 9 HW 6 (due 3/6) sol
    12 Thu 2/26 Frequency response techniques slides Ch. 10
    7 13 Tue 3/3 Frequency response techniques Lab 4:Model-based position control of a cart
    14 Thu 3/5 Frequency response techniques
    8 15 Tue 3/10 midterm review HW 7 (due 3/20) sol no lab
    16 Thu 3/12 Midterm (1230-2 pm, 160 Kroeber): HW1-6, lec 1-14, Ch 1-10, lab 1-4 midterm solutions
    9 17 Tue 3/17 Design via frequency response slides Ch. 11 HW 8 (due 4/3) sol Lab 5a  Magnetic levitation
    18 Thu 3/19 Design via frequency response
    3/23-3/27 Spring break
    10 19 Tues 3/31 Design via state space slides
    controllability (v3) notes
    Ch. 12 Ch. 5.7, 5.8 HW 9 (due 4/10) sol Lab 5b: Magnetic levitation
    20 Thu 4/2 Design via state space
    11 21 Tue 4/7 Design via state space (Observer) HW 10 (due 4/17) sol Lab 6a:Pole placement for the inverted pendulum
    22 Thu 4/9 Design via state space (integral control, separability )
    12 23 Tue 4/14 LQR Design LQR notes HW 11 (due 4/24) sol Lab 6b: Luenberger observer design for inverted pendulum
    24 Thu 4/16 Digital control  slides DT notes Ch. 13
    13 25 Tue 4/21 Digital control systems slides Ch. 13 HW 12 (due 5/1) sol Lab 6c: LQR controller design for inverted pendulum
    26 Thu 4/23 Digital control systems slides
    14 27 Tue 4/28 control with vision systems. Dynamic effects in visual closed-loop systems. Corke&Good TRA 1996 Lab 6d: Self-erecting inverted pendulum
    28 Thu 4/30 Course wrap up and review Fall 2011 Final and (sol)
    16 Tue 5/5 RRR Week, No Lecture no lab
    Thu 5/7 RRR Week, No Lecture
    17 Th 5/14 Final Exam is Thursday 5/14  1510-1800
    251 Hearst Gym Sp15 sol