reading assignments covered: Chapters 1, 2, 4, 5, 6; Appendices B, C
(see the syllabus for section details)
- closed loop control system terminology
- error, controller, plant
- closed loop transfer function
- Matlab
- basic calculations and expressions (element-by-element operators, ranges, matrix notation)
- polynomial functions (roots, poly, residue, polyval)
- plotting
- Laplace transform
- uses
- calculating through integration
- using tables
- partial fraction expansion
- inverse transform using tables
- using Matlab’s residue function
- initial and final value theorems
- solving differential equations
- interpreting results from Matlab’s ilaplace function
- Simulink
- simulating a differential equation
- modeling
- electrical elements
- impedance approach
- op amp circuit analysis
- mechanical elements
- writing equations from free-body diagrams
- block diagrams (drawing, simplifying, writing equations)
- servomotor example basics
- modeling, torque constant, electrical constant
- signal flow graphs
- writing equations
- terminology (sink node, source node, path gain, loop gain, forward path)
- Mason’s gain formula
- system response
- 1st order system
- dc gain
- 2nd order system (types of damping, poles, and responses)
- pendulum example basics
- time response specs (terminology and qualitative relations between parameters)
- frequency response (terminology and qualitative relations between parameters)
- control system characteristics
- terminology (closed loop gain, open loop gain, loop gain, characteristic equation, poles, zeroes)
- converting to a unity feedback system
- stability
- transient response characteristics
- sensitivity
- disturbance rejection
- superposition
- steady state error
- system type
- stability analysis
- polynomial coefficient and pole forms
- Routh-Hurwitz criteria
- Routh array
- special cases
- Matlab calculations with polynomials and roots
- miscellaneous
- reading assignments
- homework assignments
- Lab exercises