ME C134 / EE C128: Feedback Control Systems

Fall 2012
Instructor:

George Anwar
ganwar@me.berkeley.edu
OH: 120 Hesse, M 1-3pm

GSIs:

Evan Chang-Siu
evancs@gmail.com
OH: 136 Hesse, Tu 12-1pm, W 12-1pm

Textbook:

N. Nise, Control Systems Engineering, 6th ed.

Software:

MATLAB & Simulink, LabVIEW

Lectures:

155 Donner Lab, TuTh 5-6:30pm

Labs:

120 Hesse, M 3-5pm, W 3-5pm, Th 1-3pm

Due to limited lab equipment, please only attend the lab section you are enrolled in.
You must attend lab in order to receive credit for the lab!
Lab write-ups are due one week from the day of your lab section.

Grading:

Homework
Labs
Midterm
Final

15%
25%
25%
35%

Raechel Tan
tanraechel@gmail.com
OH: 136 Hesse, Tu 4-5pm, Th 10-11am

(Lowest HW score will be dropped)

Make-up homeworks, labs, and exams will be considered on a case-by-case basis.

Please give advance notice if you need special accommodations.
Lecture/Lab Schedule (subject to change):
Week

Date

8/23
8/28

2
8/30
9/4
3
9/6
9/11
4

Lecture
Overview, intro to feedback control, dynamic
models
Laplace transform, LTI properties, differential
equations in state variable form
Transfer functions and modeling examples
Electromechanical systems, gear ratios,
linearization
Frequency response, Bode plots, Pole/zero
intuition in frequency domain
Pole/zero intuition in time domain, time
response of first- and second-order systems,
effect of additional poles and zeros

Reading
1.1 1.5
2.1, 2.2, 3.3

1
2.3 2.5, 10.2
2.6 2.11

4.1 4.8
2

9/13

Stability of TF, Routh criteria

6.1 6.4

9/18

IVT and FVT, steady-state error analysis,

sensitivity to parameters

5.1 5.3, 7.1 7.7

9/20

Root locus and examples

8.1 8.9

Lab

3
(Pre-lab
discussion)

9/25

PI, PD, and PID control design via root locus

8.1 8.9

9/27

Lead-lag compensator design via root locus

9.1 9.6

10/2

Argument principle, Nyquist stability criterion

10.3

10/4

Nyquist plots and examples

10.4 10.5

10/9

Stability margins on Nyquist and Bode plots

10.6 10.12

10/11

PID, lead-lag design via frequency response

11.1 11.5

10/16

Midterm review

9
10/18
10/23
10
10/25

Midterm Exam (in class)

Pole/zero cancellations, nonminimum phase
system, effects of zeros
Sensitivity and complementary sensitivity
functions, limitations due to RHP poles/zeros

4
(Part 1)

10/30

State space intro

3.3 3.4

11/1

Switching between state space and transfer

At
function form, matrix exponential e

3.5 3.6

11/6

Controllability, observability

12.3, 12.6

11/8

State feedback, pole placement, robustness

12.2, 12.8

11/13

Observers, intro to LQR

12.5

11/15

Intro to discrete time control

Chapter 13

11/20

Discrete time control

Chapter 13

11

4
(Part 2)

12

13

14
11/22

Thanksgiving Break

11/27

Discrete time control

11/29

Course review

Chapter 13

15

List of Labs:

12/3 12/7

RRR Week

12/13

Final Exam, 11:30 am 2:30 pm

Lab 1: Orientation + Intro to Matlab/Simulink

Lab 2: Intro to LabVIEW
Lab 3: Cart P &PD control
Lab 4: Maglev control
Lab 5: Inverted pendulum pole placement + LQR