ME C134 / EE C128: Feedback Control Systems (Spring 2018)

Professor Somayeh Sojoudi, UC Berkeley

Instructor: Somayeh Sojoudi
Time: Tuesdays and Thursdays, 12:30-2 pm
Location: 277 Cory Hall
Instructor's Office Hours: Thursdays, 2-4pm (5114 Etcheverry)
TAs: Nan Tian (neubotech@berkeley.edu), Jiayang cao (jiayang_cao@berkeley.edu), Vatsal Patel (vatsal.patel@berkeley.edu)

TAs’ Office Hours: Mondays 11:30 AM - 12:30 PM, and Wednesdays 2-3 PM (Hesse Hall GSI office)

Grading Policy

Homework: 20%
Midterm exam (Thursday, March 15th): 20%
Lab reports: 20%
Final exam: 40%

Description

This course provides a basic understanding of control systems, including:

Analysis and synthesis of linear feedback control systems in transform and time domains

Control system design by root locus, frequency response, and state space methods

Applications to electro-mechanical and mechatronics systems

Textbook

“Control Systems Engineering” by Norman S. Nise, Wiley, Edition: 6th (5th or 7th are fine too)

Course schedule

Week 1: “Overview, intro. to feedback control, dynamic models”, Ch.1
Week 2: “Modeling in the frequency domain”, Ch. 2
Week 3: “Modeling in the time domain”, Ch 3
Week 4: “Time response”, Ch. 4
Week 5: “Stability”, Ch. 6, “Steady-State Errors”, Ch. 7
Week 6: “Steady-State Errors”, Ch. 7- “Root Locus Techniques”, Ch. 8
Week 7: “Root Locus Techniques”, Ch. 8 “Design via root locus”, Ch. 9
Week 8: “Design via root locus”, Ch. 9 “Design via root locus”, Ch. 9
Week 9: Review lecture, Midterm
Week 10: “Frequency Response Techniques”, Ch. 10
Week 11: Spring Break
Week 12: “Frequency Response Techniques”, Ch. 10
Week 13: “Design via Frequency Response”, Ch. 11

Homework

Note:

Homework should be submitted to the homework box on the 1st floor of Etcheverry (labeled “ME C134”). Each homework set is due the following week after it is assigned, on Tuesday at 11:30am sharp.
The lowest homework grade will be dropped.
You will lose points for late homework. Up to 12 hours late: 25 points off. 12-24 hours late: 50 points off. You will receive no points if you submit after 24 hours.

labs

Lab Documents

Week 1: No lab
Week 2: No lab
Week 3: No lab
Week 4: Lab 1: Intro to MATLAB and Simulink
Week 5: Lab 2: Basic concepts in control system design
Week 6: Lab 3: Quanser hardware and proportional control
Week 7: Lab 4: Model-based Position Control of a Cart
Week 8: Lab 5a: Magnetic Levitation
Week 9: No lab (midterm)
Week 10: Lab 5b: Magnetic Levitation
Week 11: No lab (Spring Break)
Week 12: Lab 6a: Pole Placement for the Inverted Pendulum
Week 13: Lab 6b: Luenberger Observer Design for Inverted Pendulum
Week 14: Lab 6c: LQR controller design for inverted pendulum
Week 15: Lab 6d: Self-erecting inverted pendulum

Lab Guidelines:

Location 125 Cory Hall