| SES # | TOPICS | READINGS | LABS | KEY DATES |
|---|---|---|---|---|
| 1 | Introduction; mechanical elements | N1; notes | ||
| 2 | Solving ODEs; cruise control | Notes | Problem set 1 out | |
| 3 | Laplace transforms; transfer functions; translational and rotational mechanical transfer functions | N2.1-2.3 and 2.5-2.6 | Lab 1: parameter estimation | |
| 4 | Electrical and electro-mechanical system transfer functions | N2.4 and 2.7-2.8 | ||
| 5 | DC motor transfer function | Notes |
Problem set 2 out Problem set 1 due |
|
| 6 | Poles and zeros; 1st order systems | N4.1-4.3 | Lab 2: characterization of DC motor | |
| 7 | 2nd order systems | N4.4 - 4.6 | ||
| 8 | 2nd order systems (cont.) | Notes |
Problem set 3 out Problem set 2 due |
|
| 9 | More than 2 poles; zeros; nonlinearities and linearization | N2.10, 3.7, and 4.7-4.9 | ||
| 10 | Examples of modeling and transfer functions | Notes |
Problem set 4 out Problem set 3 due |
|
| 11 | Block diagrams; feedback | N5.1-5.2 | Lab 3: proportional control of velocity (part I) | |
| 12 | Analysis of feedback systems | N5.3 | ||
| 13 | Quiz 1 | Problem set 4 due | ||
| 14 | Stability; Routh-Hurwitz criterion | N6.1-6.3 | ||
| 15 | Stability analysis | N6.4 | Problem set 5 out | |
| 16 | Steady state error analysis | N7.1-7.6 | Lab 4: proportional control of velocity (part II) | |
| 17 | Root locus introduction | N8.1-8.5 | ||
| 18 | Root locus example | N8.6 |
Problem set 6 out Problem set 5 due |
|
| 19 | Design of transient response using root locus | N8.7 | Lab 5: proportional-integral control of velocity | |
| 20 | Positive feedback | N8.9 | ||
| 21 | Examples of design via root locus | Notes |
Problem set 7 out Problem set 6 due |
|
| 22 | Steady-state error compensation | N9.1-9.2 | Lab 6: proportional-derivative control of position | |
| 23 | Transient response compensation; transient and steady-state error compensation | N9.3-9.4 | ||
| 24 | Compensation examples | Notes |
Problem set 8 out Problem set 7 due |
|
| 25 | Feedback compensation and its physical realization | N9.5-9.6 | Lab 7: design project (starts) | |
| 26 | Feedback design examples | Notes | ||
| 27 | Quiz 2 | Problem set 8 due | ||
| 28 | Frequency response; bode plots | N10.1-10.2 | ||
| 29 | Bode plot examples | Notes | Problem set 9 out | |
| 30 | Gain margin and phase margin | N10.7 | ||
| 31 | Design using the frequency response; lead, lag, lead-lag compensators | N11.1-11.5 | ||
| 32 | The state-space representation | N3.1-3.6 | Lab 8: design project (cont.) | Problem set 9 due |
| 33 | Solving the state equations in the time and space domains | N4.10-4.11 | ||
| 34 | State equation examples | Notes | Problem set 10 out | |
| 35 | Stability and steady-state error in state space; controllability and observability | N6.5, 7.8, 12.3, and 12.6 | Lab 9: design project (concludes) | |
| 36 | Optimal control; the minimum time problem | Notes | ||
| 37 | Review: modeling and transfer functions | Notes | Problem set 10 due | |
| 38 | Review: root locus, feedback design | Notes | ||
| 39 | Review: frequency domain and design | Notes |
