Skip Navigation
Jack Baskin School of EngineeringUC Santa Cruz

CMPE 242 - Applied Feedback Control - Winter 2017


Final tomorrow (21/Mar) at noon. BRING A LAPTOP w/MATLAB

Last office hours 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.

 

  1. Lecture #0, Introduction and Dynamic Response, 10-Jan-2017
  2. Lecture #1, Dynamic Response, 12-Jan-2017
  3. Lecture #2, Stability, 17-Jan-2017
  4. Lecture #3, Root_Locus, 19-Jan-2017
  5. Lecture #4, Zero_Degree_Root_Locus, 24-Jan-2017
  6. Lecture #5, Intro to Bode, 27-Jan-2017
  7. Lecture #6, Bode Design, 31-Jan-2017
  8. Lecture #7, Nyquist, 02-Feb-2017
  9. Lecture #8, Intro to Digital, 07-Feb-2017
  10. Lecture #9, Intro to Digital Equivalents, 09-Feb-2017
  11. Lecture #10, Dbode and Z transforms, 14-Feb-2017
  12. Lecture #11, Digital Plant, 16-Feb-2017.
  13. Lecture #12, Intro to State Space, 21-Feb-2017.
  14. Lecture #13, 23-Feb-2017, Controller Canonical Form.
  15. Lecture #14, 28-Feb-2017, Pole Placement.
  16. Lecture #15, 02-Mar-2017, Estimators.
  17. Lecture #16, LQR, 07-Mar-2017
  18. Lecture #17, Integral_Control, 09-Mar-2017
  19. Lecture #18, BiasEstimation_and_Feedforward, 14-Mar-2017
  20. Lecture #19, ReducedOrderEstimators, 16-Mar-2017


  1. Office Hours, 20-Jan-2017, Root Locus
  2. Office Hours, 25-Jan-2017, Root Locus Design
  3. Office Hours, 30-Jan-2017, Bode and Bode Design
  4. Office Hours, 08-Feb-2017, Nyquist
  5. Office Hours, 22-Feb-2017, Digital Root Locus
  6. Office Hours, 28-Feb-2017, Bode Lab Design
  7. Office Hours, 08-Mar-2017, Digital Satellite Design
  8. Office Hours, 20-Mar-2017, Feebforward and State Space Structures


  9. Final Review, from Winter 2015.

Homework

Homeworks are handed out in class, and are due back electronically at 11:59PM on the due date. You will be emailing a scanned version of your homeworks to the grader, and are allowed a total of 72 hours of grace time on the homeworks to be late. 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.

 

Homeworks are where you actually learn the material. It is very important to start the homework early and work steadily through. This will greatly improve your understanding. To submit your homework elctronically, follow the instructions here.

  1. Homework #1 (Solutions): Dynamic Response, due 17-Jan-2017.
  2. Homework #2 (Solutions): Root Locus, due 24-Jan-2017.
  3. Homework #3 (Solutions): Bode Design, due 31-Jan-2017.
  4. Homework #4 (Solutions): Bode/Root Locus co-Design, due 09-Feb-2017.
  5. Homework #5 (Solutions): Intro to Digital, due 16-Feb-2017.
  6. Homework #6 (Solutions): Z-plane design, due 24-Feb-2017.
  7. Homework #7 (Solutions): Satellite Design Lab, due 02-Mar-2017.
  8. Homework #8 (Solutions): Satellite Design Lab (con't), due 09-Mar-2017.
  9. Homework #9 (Solutions): State Space Basics, due 16-Mar-2017.
  10. Homework #10 (Solutions): Extra Credit: State Space Control, due 21-Mar-2017.
  11. Simulink Files for HW#7 and HW#8

Exams

Final scheduled for 21-Mar-2017 from noon - 3:00 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 .PDF format.

  1. Lecture #0, Introduction and Dynamic Response, 10-Jan-2017
  2. Lecture #1, Dynamic_Response, 13-Jan-2017
  3. Lecture #2, Stability, 17-Jan-2017
  4. Lecture #3, Root_Locus, 19-Jan-2017
  5. Lecture #4, Zero_Degree_Root_Locus, 24-Jan-2017
  6. Lecture #5, Introduction_Bode, 27-Jan-2017
  7. Lecture #6, Bode_Desgin, 31-Jan-2017
  8. Lecture #7, Nyquist, 02-Feb-2017
  9. Lecture #8, Intro_to_Digital, 07-Feb-2017
  10. Lecture #9, Digital_Equivalent, 09-Feb-2017
  11. Lecture #10, Dbode_and_Z_transforms, 14-Feb-2017
  12. Lecture #11, Digital_Plant, 16-Feb-2017
  13. Lecture #12, Intro_To_StateSpace, 21-Feb-2017
  14. Lecture #13, Controller_Canonical_Form, 23-Feb-2017
  15. Lecture #14, State_Space_Control, 28-Feb-2017
  16. Lecture #15, Estimation, 02-Mar-2017
  17. Lecture #16, LQR, 07-Mar-2017
  18. Lecture #17, Integral_Control, 09-Mar-2017
  19. Lecture #18, BiasEstimation_and_Feedforward, 14-Mar-2017
  20. Lecture #19, ReducedOrderEstimators, 16-Mar-2017


  1. Office Hours, 20-Jan-2017, Root Locus
  2. Office Hours, 25-Jan-2017, Root Locus Design
  3. Office Hours, 30-Jan-2017, Bode and Bode Design
  4. Office Hours, 08-Feb-2017, Nyquist
  5. Office Hours, 22-Feb-2017, Digital Root Locus
  6. Office Hours, 28-Feb-2017, Bode Lab Design
  7. Office Hours, 08-Mar-2017, Digital Satellite Design
  8. Office Hours, 20-Mar-2017, State Space Structures and Feedforward


General Class Information
Lecture times:
Tuesday-Thursday, 09:50 - 11:25 AM, Engineering 2, Room 192
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:
Wed, 08:45 - 11:00 AM, and by appointment