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EE C128/ ME C134
 Feedback Control Systems
Fall 2010


Instructor:
Prof. Ronald Fearing
Office Hours (725 Sutardja Dai Hall) Tues. 3-4 pm, Wed. 1-2 pm, or email for appointment.
Teaching
Assistants
Jansen Sheng, jsheng87@eecs, OH 204 Cory, Tues 2-3 pm
Wenjie Chen, wjchen@berkeley.edu, OH 204 Cory, Mon 130-230 pm
Text
G.F. Franklin, J.D. Powell, and A. Emami-Naeini, Feedback Control of Dynamic Systems, 6th or 5th edition. Note: Missing material from 6th edition can be found at: www.FPE6e.com
 Recommended : MATLAB & Simulink Student Version 2010a
Web Forum  
EE C128/ ME C134 Forum on b-Space
Labs  
Tues 3-6 pm, Wed. 3-6 pm, Thu 3-6 pm, Fri 0900-1200. Due to full lab sections, you may only attend your assigned lab.
Current Quote: ``Education is what remains after one has forgotten everything one learned in school.'' - Albert Einstein
Previous Quote: ``Knowledge in a book is like money lent to a friend'' Sanskrit proverb, courtesy of Prof. Anant Sahai

Current Announcements

Date

10/28
Fix on lecture #18 example for modal form.
10/22
Fix on lecture #16 output eqn for control canonical form.
8/31
Class moved to TuThu 11am-1230 pm 3106 Etcheverry from 9/2.
8/21
Discussion forum created on b-space.
All archival material will be on http://www-inst.eecs.berkeley.edu/~ee128
8/20
Draft syllabus posted under Handouts  draft Syllabus

All Announcements



Draft Schedule (10/31/10)

Week

Date

Lecture

Reading

Lab

1

8/26

Overview, Intro to Feedback Control, Dynamic Models

2


2

8/31

Laplace, LTI properties, Diff. equ. in state variable form

3.1-3.2, App A


9/2

linearization

9.2


3

9/7

pole-zero locations and time response

3.3-3.5

Lab 1

9/9

stability, Routh criteria

3.6

4

9/14

Case study, PD control

4.1, 4.2

Lab 2

9/16

PID control

4.3

5

9/21

Root locus

5.1-5.2


9/23

Root loci examples

5.3

6

9/28

dynamic compensation

5.4

Lab 3

9/30

Freq response, Bode Plots

6.1-6.2

7

10/5

Nyquist Stability criterion

6.3

Lab 4 pt1

10/7

stability margins

6.4-6.6

8

10/12

Lead-lag Compensation

6.7

Lab 4 pt2

10/14

Midterm Review


9

10/19

Midterm



10/21

State space intro

7.1-7.3

10

10/26

Analysis of state space equations

7.4


10/28

solving state space equations, transfer function, eAT

Notes, App C (5th ed)

11

11/2

controllability, observability

notes

Lab 5a

11/4

state feedback and pole placement

7.5, 7.6

12

11/9

Observer Design

F08 Lec 12

Lab 5d

11/11

Veteran's Day

13

11/16

Compensator design/LQR

Fa08 Lec #13

Lab 5b

11/18

Linear Quadratic Regulator

notes

14

11/23

Intro to Discrete Time Control

6.8, 8.1-8.3



Holiday


15

11/30

Case Studies: bilateral telemanipulation

Ryu et al. IEEE TRA vol. 20, no. 2, pp. 365

Lab 5c

12/02

Final Review



Wed. 12/15, 8-11 AM

Final Exam





Resources
Prof. Tomlin's EE128 Fall 2008 lecture notes.