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Jack Baskin School of EngineeringUC Santa Cruz

CMPE 242

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CMPE 242 - Applied Feedback Control - Fall 2010


Final Review Posted. Final Exam 08-Dec-2010, 12-3PM, E2-280C



Introduction

This course provides advances in the design of linear feedback control systems for command-following error, disturbance rejection, stability, and dynamic response specifications. We review root-locus and frequency response design (Bode) techniques, Nyquist stability criterion, and the design of dynamic compensators. Topics include state-space techniques for modeling, full-state feedback regulator design, pole placement, and observer design. Digital control (z-transform) and optimal control (LQ) are introduced. Examples are drawn from electrical, mechanical, and aeronautical applications. Computer aided design with MATLAB and SIMULINK are used to motivate the material.

Acknowledgements

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. Prof. Rock combines the theory with real world stories in a way that makes controls engineering fun and completely enjoyable.

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 5 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): Dynamic Response, due 30-Sep-10.
  2. Homework #2 (Solutions): Root Locus, due 07-Oct-10.
  3. Homework #3 (Solutions): Bode Design, due 15-Oct-10.
  4. Homework #4 (Solutions): Bode/Root Locus co-Design, due 21-Oct-10.
  5. Homework #5 (Solutions): Intro to Digital, due 28-Oct-10.
  6. Homework #6 (Solutions): Z-plane design, due 04-Nov-10.
  7. Homework #7 (Solutions): Satellite Design Lab, due 12-Nov-10.
  8. Homework #8 (Solutions): Satellite Design Lab (con't), due 18-Nov-10.
  9. Homework #9 (Solutions): State Space Basics, due 24-Nov-10.
  10. Homework #10 (Solutions): State Space Control, due 02-Dec-10.
  11. Simulink Files for HW#7 and HW#8

Exams

Midterm scheduled for 08-Nov-10 from 3:00 - 5:45 PM, location TBD
Final scheduled for 08-Dec-10 from 12:00 - 3:00 PM, location TBD

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.

General Class Information
Lecture times:
Tuesday-Thursday, 10 - 11:45 AM, Porter College Rm. 250
Textbooks:
"Feedback Control of Dynamic Systems (5th Edition)" by Gene Franklin, J.D. Powell, Abbas Emami-Naeini, Prentice Hall; 6th edition (October 3, 2009), ISBN: 0136019692
Instructor:
Name: Gabriel Hugh Elkaim (elkaim@soe.ucsc.edu)
Phone: 831-459-3054
Office: Engineering 2, 337B
Instructor Office Hours:
Tuesday-Thursday, 2:00 - 4:00 PM, and by appointment