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Jack Baskin School of EngineeringUC Santa Cruz

CMPE 241 - Winter 2007

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EE-154 / CMPE 241 - Intro to Feedback Control - Winter 2007


Final Review Session: Monday, 19-Mar-2007, E2-399 @ 8PM

Final: Wednesday, 21-Mar-2007, JBE-165 @ 8:00 AM

Introduction

Design of linear feedback control systems for command-following error, disturbance rejection, stability, and dynamic response specifications. Root-locus and frequency response design (Bode) techniques. Nyquist stability criterion. Design of dynamic compensators. Examples are drawn from electrical, mechanical, and aeronautical applications. Computer aided design with MATLAB.

Acknowledgements

I would like to acknowledge the tremendous help of Prof. Ed Carryer of Stanford University for pioneering this video capture technology, and helping me to set this course up. I would also like to acknowledge Prof. Steve Rock of Stanford University, who teaches this material and has generously helped with the syllabus, the course material, and general inspiration.

Index of class resources

  • General Class Information — class and section times, instructor and TA information
  • Lecture Video — Video files of the lectures, and download information for the right codec.
  • Handouts — homework problem sets, homework solutions, other helpful handouts.
  • WebForum - for announcements, general discussion, and help.

Handouts

Lecture Videos

The technology to record these videos is supported by a grant from the Center for Teaching Excellence (CTE), and it is an experiment. Feedback as to the utility, and the usability of these videos would be highly appreciated. The basic hardware required is a tablet PC with the Office Tablet PC extensions, and a standard headset to capture the lecturers voice. Additionally, a program called Camtasia is used to capture the entire sequence into a standard movie format that can then be viewed at a later time for review and additional study.

You may view these lectures at any time, but do not distribute them beyond the UCSC environment. These lectures have been created using the Camtasia software, and can be played through the Camtasia player software, downloadable for free from techsmith here, or through the standard windows media player with the techsmith codec. A Mac OSX version of the codec can be found here that allows playback of the files. Note that some students have reported that VLC works much better on MacOSX and Linux.

 

Homework

Homeworks are handed out in class, and are due back either in class or in my office, 337B Engineering 2, at 6 PM on the following week. Homeworks will only be accepted at the beginning of class, not at the end of class. Homeworks turned in late will be receive half the total points once the solution set has been posted. Cooperation and collaboration on the homeworks is encouraged, but this is NOT licence to copy. The work you turn in should be your own.

  1. Homework #1 (Solutions): Equations of Motion, due 11-Jan-07.
  2. Homework #2 (Solutions): Laplace Transforms, due 18-Jan-07.
  3. Homework #3 (Solutions): Design Specifications and Control Response, due 25-Jan-07.
  4. Homework #4 (Solutions): Basic Control System Design, due 01-Feb-07.
  5. Homework #5 (Solutions): Root Locus, due 07-Feb-07.
  6. Homework #6 (Solutions): Root Locus Design, due 19-Feb-07.
  7. Homework #7 (Solutions): Bode Plots, due 21-Feb-07.
  8. Homework #8 (Solutions): Bode Design, due 06-Mar-07.
  9. Homework #9 (Solutions): Final Review, due 13-Mar-07.

Exams

Class Presentation Slides

The class lectures use the digital ink capabilities of the TabletPC. The ink is saved back into the presentation, and the presentation is saved to the website for convenience. This year we are using Classroom Presenter rather than PowerPoint. It apprears to be far more stable, and has several nice utilities for the TabletPC. The presentation files are in the .CSD format, and you will need to download Presenter to view them. Presenter can be downloaded free from here.

  1. Lecture #0: Introduction to Feedback, 04-Jan-2007
  2. Lecture #1: Laplace Transform, 09-Jan-2007
  3. Lecture #2: Convolution, 11-Jan-2007
  4. Lecture #3: Partial Fractions, 15-Jan-2007
  5. Lecture #4: Block Diagram Reduction, 17-Jan-2007
  6. Lecture #5: Routh Stability, 22-Jan-2007
  7. Lecture #6: System Types, 25-Jan-2007
  8. Lecture #7: PID Control, 30-Jan-2007
  9. Lecture #8: Root Locus, 01-Feb-2007
  10. Lecture #9: Root Locus (con't), 06-Feb-2007
  11. Lecture #10: Zero Angle Root Locus, 13-Feb-2007
  12. Lecture #11: Lead Lag Compensation, 15-Feb-2007
  13. Lecture #12: Intro to Bode, 20-Feb-2007
  14. Lecture #13: Bode Plots, 22-Feb-2007
  15. Lecture #14: Bode Design, 27-Feb-2007
  16. Lecture #15: Nyquist Plots, 01-Mar-2007
  17. Lecture #16: Bandwidth, Gain and Phase Margin, 06-Mar-2007
  18. Lecture #17: Bode Design Example, 08-Mar-2007
  19. Lecture #18: Digital Control (Intro), 13-Mar-2007
  20. Lecture #19: State Space Control (Intro), 15-Mar-2007

  21. Office Hours: 09-Jan-2007.
  22. Office Hours: 11-Jan-2007.
  23. Office Hours: 15-Jan-2007.
  24. Office Hours: 29-Jan-2007.
  25. Office Hours: 05-Feb-2007.
  26. Office Hours: 07-Feb-2007.
  27. Office Hours: 12-Feb-2007.
  28. Office Hours: 14-Feb-2007.
  29. Office Hours: 21-Feb-2007.
  30. Office Hours: 21-Feb-2007.
  31. Office Hours: 05-Mar-2007.
  32. Office Hours: 07-Mar-2007.
  33. Office Hours: 12-Mar-2007.

  34. Midterm Review: 07-Feb-2007.
  35. Final Review: 19-Mar-2007.

General Class Information
Lecture times:
Tuesday-Thursday, 12:00 - 1:45 PM, Baskin Engineering Rm. 165
Textbooks:
"Feedback Control of Dynamic Systems (5th Edition)" by Gene Franklin, J.D. Powell, Abbas Emami-Naeini, Prentice Hall; 5 edition (October 31, 2005), ISBN: 0131499300
Instructor:
Name: Gabriel Hugh Elkaim (elkaim@soe.ucsc.edu)
Phone: 831-459-3054
Office: Engineering 2, 337B
Instructor Office Hours:
Monday-Wednesday, 3:00 - 5:00 PM, and by appointment