MAE 143B - Linear Control (Spring 2007)

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: Mondays 2-3 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, 2:00-3:20 pm, WLH 2001

Discussion/Problem Session (attendance mandatory): F, 11:00-11:50 am, PETER 108

Section ID: 588561

First Lecture: April 3

Last Lecture: June 7

Last Problem Session: June 8

Holidays: none during this quarter

Midterm: Tuesday, May 1

Midterm Review Session: Monday April 30th, 4:00pm-5:00pm, 109 Pepper Canyon Hall

Final Exam: Wednesday, June 13, 3-6 pm

Final Exam Review Session: Monday June 11th, 6:00pm-7:00pm, 109 Pepper Canyon Hall

Final Exam Office Hours: Monday June 11th, Tues June 12th, 9:00am-5:00pm, EBU1-2101

TAs:

Jennie Cochran, 2101b EBU1, jcochran@ucsd.edu
Yair Treister, 2103A EBU1, ytreister@ucsd.edu

TA Office Hours: Jennie: MW 3:30-4:30 PM ~~~~~ Yair: MW 11:30-12:30, Th 1-2 PM

Reader: Scott (Won Tak Koo) and Nima Ghods

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

Homework 10%
Midterm 30%
Final 60%

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:

HW1: Transfer function algebra, Mason's rule HW1 Solution

HW2: Time response, performance specifications HW2 Solution

HW3: Effects of feedback, PID control HW3 Solution

HW4: Stability, Routh criterion, system types HW4 Solution

HW5: Root Locus HW5 Solution

HW6: Bode plots HW6 Solution

HW7: Nyquist criterion HW7 Solution

Important Downloads:

Respect the Unstable

Bode Compensator Design

Fall 1998 Midterm (Solved)