**… supplemental information from lecture**

**Week 1**

- syllabus and group selection survey handouts from first day of class
- control systems video demonstrations
- robotics video demonstrations
- TED talk with demos of several Boston Dynamics robots (in class start at 2:41 point, ending at 6:30)

- Matlab intro reference
- how to install Matlab for free on your own computer
- Matlab Onramp (free interactive tutorial – requires creating an account)
- Textbook website (with Matlab examples)
- quadroots.m – script for calulating the roots of a quadratic equation.
- myfunc.m – passing arguments to, and getting results back, from a function
- mypublish.m – using cells and the publish feature to document work
- Can also create or save as a Live Editor file (mypublish.mlx) for auto display and publishing

- Common engineering analysis solutions in both Mathcad and Matlab:
- Mathcad (PDF file)
- Matlab
- Live Script version: live script (PDF file)
- old-school Script version:
- functions used: my_confun.m, my_non_linear_equations.m, my_objfun.m, my_piece_wise.m, my_program.m, my_quadratic.m, my_root_func.m

**Week 3**

- Simulink intro reference
- mdsolve.m (solving differential equations and plotting results)
- “My Little Friend” video clip from the movie “Scarface”

**Week 4**

- servospeed_params.m (parameters script for servomotor speed control system)
- servospeed_model.slx (Simulink model for servomotor speed control system)

**Week 5**

- mysos.m (step and frequency response calculations for a second order system)
- mysettle.m (setting and rise times vs. damping ratio) with mysettle_publish.pdf (published version)
- video demos:

**Week 6**

**Week 7**

- mypoly.m (examples of various MatLab polynomial calculations)
- Example 6.6 from the book
- E6_6.m (extended solution for Example 6.6)
- Exam I review topics
- Exam I handout (reference info to be provided with the exam)
- Mason Gain Formula example (2.14)

**Week 8**

- myrlocus.m (Root Locus plotting)

**Week 9**

- myrlocus.m (Root Locus plotting)
- Table 7.2 – Root Locus Rules
- breakaway.m (finding Root Locus breakaway points)

**Week 10**

**Week 11**

- Table 8.4 – Root Locus and Nyquist comparisons
- T84e.m (frequency response diagrams for Table 8.4e example)
- example plots for K=30 from Table 8.4e example
- good online Bode examples

**Week 12**

- pole-at-orgin example plots
- Exam II review topics
- Exam II handout (reference info to be provided with the exam)
- ch9ex.m (Chapter 9 controller design example)
- example plots for K=.5 from ch9ex.m gain compensation
- Figure 9.8 – Gain compensation
- Figures 9.12 and 9.14 – Phase-lag compensation
- Figures 9.16 and 9.19 – Phase-lead compensation

**Week 13**

- Figures 9.29 and 9.31 – PI and PD controllers
- Figure 9.32 – PID controller
- mypid.m (continuation of Chapter 9 controller design example)

**Week 15**

- inverted pendulum uprighting and balancing with linear cart motion
- triple inverted pendulum (video, article)
- quadcopter control TED talk

**Week 16**

- ss_pp_design.m (state-space pole-placement controller design for pole balancer)
- group evaluation form
- Final Exam review topics
- from Mechatronics Book (overview of controller implementation approaches):
- Figure 11.12 – Analog PID controller constructed from op amp circuits
- Threaded Design Example A – DC motor power-op-amp speed controller
- Video Demo 8.8 – National Instruments DC motor demo

- introduction to digital (discrete) control: part 1, part 2