Course Information
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Description (from WebSIS):
A learn-by-design introduction to modeling and control of discrete- and continuous-time systems, from intuition-building analytical techniques to more computational and data-centric strategies. Topics include: linear difference/differential equations (natural frequencies, transfer functions); controller metrics (stability, tracking, disturbance rejection); analytical techniques (PID, root-loci, lead-lag, phase margin); computational strategies (state-space, eigen-placement, LQR); and data-centric approaches (state estimation, regression, and identification). Concepts are introduced with lectures and online problems, and then mastered during weekly labs. In lab, students model, design, test, and explain systems and controllers involving sensors, actuators, and a microcontroller (e.g., optimizing thrust-driven positioners or stabilizing magnetic levitators). Students taking graduate version complete additional problems and labs.
Prerequisites:
We presume that 6.3100/2 students have taken two terms of physics (though 8.02 (GIR)) and a linear algebra class (18.C06 or 18.06).
Labs
The learn-by-design philosophy of 6.310 centers on weekly 3-hour labs. Two alternative lab sections are available:
- Fridays 10am-1pm in 38-545
- Fridays 2pm-5pm in 38-545
Most of the learning about design comes from working on the labs. Please work with a partner. It does not have to be the same partner for each week. Students who work in pairs (NOT triplets) typically get more out of the lab experience (and have more fun) than those who stoically work alone.
The weekly labs are organized as six projects that each comprise two of the 3-hour lab sessions. The first of these sessions focuses on constructing a system to be controlled, making measurements to characterize that system, and developing a preliminary design of a controller. The second session focuses on mastering the concepts presented in lecture and practiced in the prelab. Typically, you will derive models, use those models to design controllers, test those controllers, and then analyze test results.
The design labs are challenging, and are key learning experiences. The design labs are NOT exams! We expect you to need help (from peers and/or the staff), but we also expect you to succeed, and to be able to demonstrate a comprehensive understanding during checkoff interviews. The checkoff interviews are also NOT exams! They are intended to help you stretch your understanding and uncover gaps. They can be repeated during lab and/or during office hours with NO PENALTY.
Lectures
Two weekly lectures introduce the theory that is developed in the labs.
PreLab Online Exercises
Online exercises provide an opportunity for you to develop an understanding of the theory that will be applied in the lab. These prelab exercises are delivered through this web site and you will receive immediate feedback about your progress. The questions are intended to help you test/verify your understanding, so incorrect answers can be resubmitted WITHOUT PENALTY. The prelab's goal is to help you develop the skills needed for the design lab, so please finish the prelab before starting the design lab.
YOU MUST COMPLETE 70% OF THE PRELAB BEFORE YOU CAN START THE SECOND HALF (PART B) OF EACH LAB!
This will be checked automatically, so No exceptions! No exceptions! No exceptions!
PostLab Problem Sets
Postlab problem sets have more open-ended questions that require written solutions, and are intended to help deepen your understanding of underlying theory. You can submit problem set solutions online in a variety of formats, including pdfs or image files of handwritten solutions (e.g. jpg or png). Unless otherwise noted, Postlab submissions are due seven days after a Part B lab, and any extensions must be approved by a staff member (by e-mail). Solutions will typically be posted one week after the due date, and student submissions will not be accepted after the solutions are posted. Your solutions to postlabs are graded by the staff, usually one week after submission.
Exams
There are no quizzes or final exam in this subject.
Lab Hours
Staff will hold in-lab office hours at times posted on our home page, but may be adjusted based on class preferences. In addition, the fifth-floor lab itself is open until 11:45pm every day except Saturday.
Please take advantage of these times to finish labs and/or clarify your understanding of the course material. And PLEASE do not wait until the last minute to get help, as office hours can get very BUSY as due dates approach.
Grades on Assignments
Due dates for all assignments (prelabs, lab checkoffs, and postlabs) are indicated at the top of that assignment. Generally, these due dates are Fridays at 10am of the week following the corresponding lab, so that you are ready to work on the new lab when it begins on Thursday or Friday.
Your grades on the online questions and in-lab checkoffs are based on percentage completed, WITHOUT REGARD TO RETRIES! Your written postlab questions will be graded using MIT's grade definitions:
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A: Exceptionally good performance demonstrating a superior understanding of the subject matter, a foundation of extensive knowledge, and a skillful use of concepts and/or materials.
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B: Good performance demonstrating capacity to use the appropriate concepts, a good understanding of the subject matter, and an ability to handle the problems and materials encountered in the subject.
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C: Adequate performance demonstrating an adequate understanding of the subject matter, an ability to handle relatively simple problems, and adequate preparation for moving on to more advanced work in the field.
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D: Minimally acceptable performance demonstrating at least partial familiarity with the subject matter and some capacity to deal with relatively simple problems, but also demonstrating serious deficiencies.
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F: Failed.
Final Grade in Undergraduate Version (6.3100)
6.3100/2 is NOT competitively graded, grades are based on work completed. Since many tasks (prelabs and lab interviews) can be repeated without penalty, most students complete enough work to earn an A.
To get an A you must
-- complete all of the checkoffs in all of the labs,
-- submit correct answers to at least 90% of prelabs,
-- receive a grade of C or higher on each of the postlabs, and
-- receive an average grade of A on the postlabs (after dropping lowest postlab score).
To get an B you must
-- complete all of the checkoffs in all of the labs,
-- submit correct answers to at least 80% of prelabs, and
-- receive a grade of C or higher on each of the postlabs, and
-- receive an average grade of B or higher on the postlabs (after dropping lowest postlab score).
To get an C you must
-- complete all of the checkoffs in at least 5 of the 6 labs.
To get an D you must
-- complete all of the checkoffs in at least 4 of the 6 labs.
Final Grade in Graduate Version (6.3102)
NOTE: For Fall 25, 6.3102 students will be expected to complete an extra design lab. The lab is still in development, but will involve designing a two-input two-output state-space controller.
To get an A you must
-- satisfy all of the criteria for an A in 6.3100 and
-- complete the checkoffs for the extra design lab (TBA).
To get an B you must
-- satisfy all of the criteria for a B in 6.3100 and
-- complete the checkoffs for the extra design lab (TBA)
Extension Policy
Our goal is to help you to get the most out of your educational experience in this subject and beyond. As with most subjects at MIT, this subject is fast-paced and challenging, though we try to minimize stress with our penalty-free retry policies (you never fail, you just haven't succeeded yet). Nevertheless, since we insist that you eventually demonstrate thorough understanding in each of more than thirty staff interviews, it can be difficult to catch up if you fall too far behind.
If you find yourself having difficulties or find yourself falling behind, please do not struggle alone. Discuss the situation with the staff, with your academic advisor, and/or S^3.
We will do all that we can to provide accomodations if unplanned issues (such as illness or personal problems) arise. Please consult an instructor if you have concerns.
Collaboration and AI Policy
The on-line prelab questions are intended to prepare you for the lab, the lab interviews give us an opportunity to "debug" your understanding, and postlab problem sets are intended to deepen your understanding. In our experience, students who work through prelabs, labs, and postlabs with a partner (or a sequence of partners) are more efficient and learn more. They spend far less time tripping over minor mistakes, and it is hard to overstate the pedagogical value of explaining one's thinking to a partner.
To encourage partnering, our only collaboration policy is that during lab interviews, we will do our best to ensure that both students understand the material.
