Information
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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 permission of instructor
Lecture, Recitation and Lab Schedule
Lecture/Recitation: Tuesday and Thursday, 11am -12pm, on-line.
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 will "take place" on Fridays. Each lab will have one or more checkoffs with a member of staff, and we would ask that you get checked off on lab before the following Tuesday. 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 help you more individually. Please note, interviews can be repeated AT NO PENALTY.
Labs will have links to put you on zoom check-in queues.
Pandemic Office Hours
Lab and all Office Hours (see schedule in "Weekly Events" below) are in on-line, and we are prepared to help you debug hardware. Students often find it useful to log their laptop and their phone into zoom for hardware interviews (to use the phone as a camera).
Weekly Events and Due Dates
A typical week's "events" will be as follows (starting on Tuesday of a given week):
Tuesday: Lecture (11am-12pm), PreLab released (10pm)
Wednesday: Office Hours: (7pm-10pm)
Thursday: Recitation (11am-12pm) Lab/Postlab released (10pm) Off Hrs: (7pm-10pm)
Friday: Off Hrs: (1-5pm)
Sunday: Office Hours: (1pm-5pm) Instructors (7pm-10pm) Staff
Monday: Office Hours (7pm-10pm) Staff
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
Grading is based on homework, labs, and a midterm project:- Prelabs: 20%
- Labs: 40%
- PostLabs: 20%
- Midterm Project and Report: 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.
