MAE 143B - Linear Control (Spring 2009)

Department of MAE, UCSD

Course web address: http://flyingv.ucsd.edu/krstic/teaching/143b/143b.htm

Instructor: Prof. Miroslav Krstic, 1808 EBUI, 822-1374, krstic@ucsd.edu

Office Hours: Monday, 2-3 pm; Thursday 1:30-2:30 pm

Text: Franklin, Powell, and Emami-Naeini, Feedback Control of Dynamic Systems, Prentice Hall, 2005.

Prerequisites: Signals and Systems MAE 143A (grade C- or higher)

Lecture Time and Place: TuTh 9:30-10:50 am, WLH 2001

Discussion/Problem Session (attendance mandatory): Fri 9:00-9:50 am, Center 119

Section ID: 650366

First Lecture: Tuesday, March 31

Last Lecture: Thursday, June 4

Last Problem Session: Friday, June 5

Holidays: none

1st Midterm: Tuesday, April 28

2nd Midterm: Thursday, May 28

Final Exam: Tuesday, June 9, 9-10:30am

TAs:

James Krieger, 2101b EBU1, jkrieger@ucsd.edu
Halil Basturk, 2101b EBU1, basturkhalil@gmail.com
Michael Sankur, msankur@ucsd.edu

TA Office Hours:

	Monday	Tuesday	Wednesday	Thursday	Friday
10:05 – 10:55	Halil EBU2 305
11– 12			Michael EBU2 305	James EBU2 305	Halil EBU2 312
1:30 – 2:30				Prof. Krstic 1808 EBUI
2 – 3	Prof. Krstic 1808 EBUI
2:30 – 3:30		Michael EBU2 305

Readers: Jason O'Grady (jogrady@ucsd.edu), Kassandra Marshall (kmarshal@ucsd.edu)

Grading:(click on highlighted items at bottom of page for problem sets)

Homework	10%
1st Midterm	30%
2nd Midterm	30%
Final Exam	30%

Exam Policy: 1) One page (front and back) of *your own handwritten* notes. 2) No graphing calculators.

Topics: Analysis and design of feedback systems in the frequency domain. Transfer functions. Time response specifications. PID controllers and Ziegler-Nichols tuning. Stability via Routh-Hurwitz test. Root locus method. Frequency response: Bode and Nyquist diagrams. Dynamic compensators, phase-lead and phase-lag. Actuator saturation and integrator wind-up.

Academic Dishonesty Policy: I plan on following the University rules on academic dishonesty (if you are considering taking chances, click here and read the lengthy Section 22.23). As a page of notes and a simple calculator are allowed during exams, it is specifically forbidden to: 1) collaborate or look into someone else' s work or their notes, 2) share either your page of handwritten notes or your calculator. It is unfortunate that exams are conducted in crammed conditions, so please keep your attention focused on your own work. Even if I don't notice collaboration or peeking into your neighbor's work, keep in mind that if your work is similar to someone else's (and especially if it is so in an idiosyncratic or erroneous manner), this constitutes evidence of academic dishonesty. Regarding homework, submitting work that is not your own constitutes academic dishonesty. There are two penalties for academic dishonesty: (1) any form of it will result in a failing final grade in the course; (2) it is the instructor's responsibility to report all instances of academic dishonesty to the student's college. I have been forced to pursue this procedure in the past and in the most serious case it has resulted in a student's suspension (even though it was the student's first offense). What is important to note is that not just me, but also your colleagues are watching you and have as much interest in a fair grading environment as I do. In most cases that I have pursued, the offending activities were reported to me by students in the class.

Homework:

	Scan of homework problems from the 5th edition
due Fri 4/10	HW1: Transfer function algebra, Mason's rule	HW1Solution
due Tues 4/14	HW2: Time response, performance specifications	HW2Solution
due Tues 4/21	HW3: Effects of feedback, PID control	HW3Solution
due Tues 4/28	HW4: Stability, Routh criterion, system types	HW4Solution
due Tues 5/12 (prob 1-4 only). Prob 5-6 due Thurs 5/21	HW5: Root Locus	HW5Solution
due Tues 5/26	HW6: Bode plots	HW6Solution
(not collected)	HW7: Nyquist criterion	HW7Solution