Dynamical System Modeling and Control Design
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Welcome to 6.3100/6.3102: Dynamical System Modeling and Control Design.
Upcoming Lab/Office Hours:
Tues. (12/12): Lab 7pm-10pm
Wed. (12/13): Last Lecture. 3pm-4pm, 32-144, Please come give Feedback on Feedback, your ideas do MAKE a difference (and also here about next classes).
Thursday:12/14: Lab 2pm-5pm
Friday: 12/15: Last lab hours: 10am-1pm, 2pm-5pm
Lectures: Mondays and Wednesdays, 3pm, 32-141
Lecture videos in Resources pull-down menu.
Labs: Fridays 10am-1pm or 2pm-5pm, 38-545
Office Hours: Mondays (7pm-10pm), Thursdays (7pm-10pm), Sundays (2pm-5pm and 7pm-10pm), 38-545.
Information about the structure of activities in this subject as well as grading policies can be found here.
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| Week | Monday Lecture A |
Wednesday Lecture B |
Pre-Lab |
Friday Lab |
Post-Lab |
|---|---|---|---|---|---|
| 1 | Sep 04 Reg Day - No Class | Sep 06 Introduction | Diff Eqns and Feedback here | Fast and Spurious here | |
| 2 | Sep 11 First-Order LTI systems Notes | Sep 13 Identifying Parameters Notes | Fast and Spurious (Due 9am,10/03) here | ||
| 3 | Sep 18 Higher-Order DT Systems and Natural Frequencies Notes | Sep 20 Complex Nat. Freqs, Oscillations, and Decay Notes | Student Holiday- No lab 9/23 | ||
| 4 | Sep 25 DT State-Space, LTI, Feedback Notes | Sep 27 Natural Frequencies and Eigenvalues Notes | Higher-Order DT Systems and State-Space here | Code of Arms here | |
| 5 | Oct 02 DT PID and State-Space Notes | Oct 04 DT to CT: \lambda^n to e^{\lambda t} Notes | Code of Arms, (Due 9am,10/18) here | ||
| 6 | Oct 09 Student Holiday - No Class | Oct 11 CT Natural Frequencies Notes | Sinusoidal Steady State here | A Disturbance in the Force here | |
| 7 | Oct 16 CT Transfer Functions Notes | Oct 18 CT Frequency Response Notes | A Disturbance in the Force, (Due 9am, 11/1 (grace until 9am Monday 11/13)) here | ||
| 8 | Oct 23 CT Gain and Phase Margins Notes | Oct 25 CT Lead Compensation Notes | Lead Compensation here | Marginal Maglev - PartA here | |
| 9 | Oct 30 CT Lead Compensation Continued Notes | Nov 01 Design Example Notes | Marginal Maglev - PartB here | Marginal Maglev (No Handin Required!) here | |
| 10 | Nov 06 CT State Space and Feedback Notes | Nov 08 Pole Placemen Notes | Pole placement and LQR here | Holiday | |
| 11 | Nov 13 Metrics and LQR Notes | Nov 15 Picking State Weights Notes | Win, Place, LQR here | ||
| 12 | Nov 20 CT Observers Notes | Nov 22 CANCELLED (Tues Off Hrs)! | Holiday | ||
| 13 | Nov 27 CT to DT LQR Notes | Nov 29 DT Observers Notes | Observers here | Learn and Observe here | |
| 14 | Dec 04 DT Observer | Dec 06 Learning and Control Notes | |||
| 15 | Dec 11 No Lecture: Lab 36-545 | Dec 13 Final Lecture: What Next? |