Information

Course Description

A learn-by-design introduction to key ideas in modeling and control of continuous- and discrete-time systems, from classical analytical techniques to modern data-driven strategies. Topics covered: a control-centric introduction to Laplace- and Z-transforms (natural frequencies, transfer functions, frequency response); feedback system performance metrics (stability, tracking, and uncertainty/disturbance rejection); analytic design methods (root-locus, PID, and lead-lag); state-space models and computational design (eigenvalue placers, linear-quadratic regulators, and observer-based techniques); and data-driven design (system identification, regression, and model predictive control). Concepts are introduced and reviewed in weekly lectures, recitations, and on-line exercises. Students then master those concepts during three-hour design labs, in which they combine circuits, sensors, actuators, algorithms, and a high-performance microcontroller to control propeller-levitated arms, magnetic levitators, two-wheel vehicles, and three-dimensional positioners. Graduate students complete additional assignments.

Official Prerequisites: Physics II (GIR) and 2.087 or 18.03 or 18.06 or permission of instructor

Lecture, Recitation and Lab Schedule

Lecture/Recitation: Monday and Wednesday, 3pm -4pm, 4-231.

In 6.302, we cover a curated list of topics in from classical and state-space control, in both continuous and discrete time. The class is design-oriented, so the majority of the learning comes from working on the labs, preferably with a partner.

Labs are on Fridays. Each lab will span two weeks, and have three or four checkoffs with a member of staff, and we would ask that you get checked off on lab before the following Monday of the second week. All but the final check-off can be done individually or in pairs, but we ask that the final check-off for each lab be done individually, so we can tailor the last interview more individually. Please note, interviews can be repeated, even multiple times, AT NO PENALTY.

Labs will have links to put you on check-in queues.

Pandemic Office Hours

Lab and all Office Hours (see schedule in "Weekly Events" below) are in person and on zoom (by request) and we are prepared to help you debug hardware.

Weekly Events and Due Dates

A typical two-week lab will be as follows (starting on Monday of a given week): First week:

Monday: Lec.:(3pm-4pm), 4-231, Finish Previous Week's Lab and Postlab, Off. Hrs.: (7pm-10pm), 38-545

Wednesday: Lec.:(3pm-4pm), 4-231, PreLab released (10pm)

Thursday: Lab Released(1pm), Start Prelab, Off. Hrs:(7pm-10pm), 38-545

Friday: Lab (10am-1pm) or (2pm-5pm), 38-545

Sunday: Off. Hrs: (2pm-5pm) (7pm-10pm), 38-545 Second week:

Monday: Lec.:(3pm-4pm),4-231, Off. Hrs.: (7pm-10pm), 38-545

Wednesday: Lec.:(3pm-4pm),4-231, PostLab released (10pm)

Thursday: Finish Prelab, Off. Hrs.:(7pm-10pm), 38-545

Friday: Lab (10am-1pm) or (2pm-5pm),38-545

Sunday: Off. Hrs.: (2pm-5pm) or (7pm-10pm), 38-545

As you can see, office hours are spread throughout the week, however DO NOT WAIT UNTIL THE LAST DAY TO DO ASSIGNMENTS. Office hours might get busy!

Grading

1. Prelabs: 20%
2. Labs: 40%
3. PostLabs: 20%
4. Midterm Project and Report (6.320): 20%

Our goal is for you to leave 6.302/6.320 with the confidence and skill to design real control systems, along with a context for learning more. Expect to build and understand what you control, to decide on objectives and design appropriate controllers, and to be challenged but not stressed.

Staff

The names and contact information for individual staff members can be found below, but if you want to reach all of us just email 6302-staff-sp20@mit.edu.

Name	Role	Office	Email (@mit.edu)	Picture
Jacob White	Instructor	38-545	white
Kevin Chen	Instructor	8-545	yufengc
Robert Redmond	TA	38-545	redmond
Zhijian Ren	TA	38-545	zhijianr