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Jack Baskin School of EngineeringUC Santa Cruz

CMPE 242 - Applied Feedback Control - Winter 2015


Final Exam on Wed. 18/Mar @ 4PM. Bring laptop w/MATLAB.

First part closed book, notes. Formulae sheet allowed.

Practice final and final review video posted below.



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. I would also like to thank David Powell for his years of mentoring, and for providing discounts to his Digital Controls book.

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.
  • Piazza - for announcements, general discussion, and help.

Piazza

We'll be conducting all class-related discussion on Piazza this term (rather than the web forum). The quicker you begin asking questions on Piazza (rather than via emails), the quicker you'll benefit from the collective knowledge of your classmates and instructors. We encourage you to ask questions when you're struggling to understand a concept.

 

Piazza CMPE242 Home

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 a digitizer (waacom) pen, and a standard headset to capture the lecturer's 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 VLC which is cross-platform. Or any other video player of your choice.

 

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.

 

You will be grading each others homeworks using the solution set and a guideline on where to award points, and will be graded on your grading. The homeworks will be randomly assigned, so everyone will have a chance to grade everyone else's homeworks.

  1. Homework #1 (Solutions): Dynamic Response, due 15-Jan-15.
  2. Homework #2 (Solutions): Root Locus, due 22-Jan-15.
  3. Homework #3 (Solutions): Bode Design, due 28-Jan-15.
  4. Homework #4 (Solutions): Bode/Root Locus co-Design, due 04-Feb-15.
  5. Homework #5 (Solutions): Intro to Digital, due 13-Feb-15.
  6. Homework #6 (Solutions): Z-plane design, due 18-Feb-15.
  7. Homework #7 (Solutions): Satellite Design Lab, due 26-Feb-15.
  8. Homework #8 (Solutions): Satellite Design Lab (con't), due 04-Mar-15.
  9. Homework #9 (Solutions): State Space Basics, due 12-Mar-15.
  10. Homework #10 (Solutions): State Space Control, due 18-Mar-2015.
  11. Simulink Files for HW#7 and HW#8

Exams

Midterm scheduled for 19-Feb-2015 as a 3 1/2 hour take-home
Final scheduled for 18-Mar-15 from 4:00 - 7:00 PM, in class, bring laptops with MATLAB.

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 3 as it has several nice utilities for the TabletPC. The presentation files are in the .CP3 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, 10:00 - 11:45 AM, Physical Sciences Room 140
Textbooks:
"Feedback Control of Dynamic Systems (6th Edition)" by Gene Franklin, J.D. Powell, Abbas Emami-Naeini, Prentice Hall; 7th edition (May 9, 2014), ISBN: 0133496597
"Digital Control of Dynamic Systems (3rd Edition)" by Gene F. Franklin, J.D Powell, and Michael Workman, Ellis-Kagel Press; 3rd Edition (2010), ISBN: 978-0-9791226-1-3
Instructor:
Name: Gabriel Hugh Elkaim (elkaim@soe.ucsc.edu)
Phone: 831-459-3054
Office: Engineering 2, 337B
Instructor Office Hours:
T-Th, 12:00 - 2:00 PM, and by appointment