Dynamics and Control II
Lecture Notes
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LEC # |
TOPICS |
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1 |
Introduction (PDF) |
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2 |
Example: cruise control (PDF) |
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3 |
Laplace transform definition, properties (PDF) |
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4 |
Block diagram algebra (PDF) |
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5 |
Modeling: impedance of electrical components (PDF) |
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6 |
Kirchoff's laws, circuit equations (PDF) |
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7 |
Transfer functions, loop/mesh currents (PDF) |
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8 |
Modeling: real components as Thevenin and Norton sources (PDF) |
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9 |
Modeling: one-dimensional mechanical components (PDF) |
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10 |
Modeling: impedance of mechanical components (PDF) |
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11 |
Transfer functions in MATLAB and Maple (PDF) |
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12 |
Operational amplifiers (PDF) |
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13 |
Generalized system modeling (PDF) |
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14 |
Modeling: rotational systems (PDF) |
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15 |
Example: rotational systems (PDF) |
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16 |
Modeling: two-port components (PDF) |
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17 |
LTI system response (PDF) |
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18 |
Standard input functions: delta, step, ramp, sinusoid (PDF) |
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19 |
Poles and zeros (PDF) |
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20 |
Standard 1st and 2nd order system responses (PDF) |
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21 |
Higher order systems, LTI system properties (PDF) |
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22 |
Example: finding system responses (PDF) |
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23 |
Effects of poles and zeros (PDF) |
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24 |
Closed-loop systems, steady-state errors (PDF) |
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25 |
System stability, Routh-Hurwitz criterion (PDF) |
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26 |
Stability of closed-loop systems, root locus plots (PDF) |
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27 |
Root locus development (PDF) |
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28 |
Root locus development (cont.) (PDF) |
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29 |
Root locus summary, MATLAB (PDF) |
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30 |
Sinusoidal system response (PDF) |
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31 |
Frequency response and pole-zero plots (PDF) |
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32 |
Bode plots (PDF) |
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33 |
Poles and zeros on bode plots (PDF) |
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34 |
Bode plots, conclusion (PDF) |
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35-37 |
Review |
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38 |
Final exam |
Labs
A brief description of the 2.004 lab facilities and rules is provided for reference (PDF)
The first seven labs deal with a physical plant consisting of a rotational flywheel and motor, detailed in this handout (PDF) (Courtesy Prof. Emanuel Sachs. Used with permission.)
The motor specification sheet may be found here (PDF)
Lab 1: Coulomb and Viscous Friction (PDF)
Lab 2: Characterization of Lab System Components (PDF)
Lab 3: Construction of a Proportional Velocity Controller (PDF)
Lab 4: Closed-loop Performance of a Proportional Velocity Controller (PDF)
Lab 5: Elimination of Steady-state Error Using Integral Control Action (PDF)
Lab 6: Closed-loop Position Control, and the Effect of Derivative Control Action (PDF)
Lab 7: Closed-Loop Position Control using Position and Velocity Feedback (PDF)
The final set of lab projects involves the design of an active damping system for a skyscraper, including a set of MATLAB files for simulating the tower and its vibrations.
Project Introduction (PDF)
Lab: Active Damping of Tall Building Vibrations (PDF)
Tower Data (ZIP) (The ZIP file contains: 13 .m files.)
Assignments
This page contains homework assignments and solutions for the semester.
Problem Set 2 refers to the spec sheet for the Maxon motor, here (PDF)
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ASSIGNMENTS |
SOLUTIONS |
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Problem set 1 (PDF) |
(PDF) |
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Problem set 2 (PDF) |
(PDF) |
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Problem set 3 (PDF) |
(PDF) |
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Problem set 4 (PDF) |
(PDF) |
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Problem set 5 (PDF) |
(PDF) |
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Problem set 6 (PDF) |
(PDF) |
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Problem set 7 (PDF) |
(PDF) |
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Problem set 8 (PDF) |
(PDF) |
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Problem set 9 (PDF) |
(PDF) |
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Problem set 10 (PDF) |
(PDF) |
Study Materials
This page contains homework assignments and solutions for the semester.
Problem Set 2 refers to the spec sheet for the Maxon motor, here (PDF)
|
ASSIGNMENTS |
SOLUTIONS |
|
Problem set 1 (PDF) |
(PDF) |
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Problem set 2 (PDF) |
(PDF) |
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Problem set 3 (PDF) |
(PDF) |
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Problem set 4 (PDF) |
(PDF) |
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Problem set 5 (PDF) |
(PDF) |
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Problem set 6 (PDF) |
(PDF) |
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Problem set 7 (PDF) |
(PDF) |
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Problem set 8 (PDF) |
(PDF) |
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Problem set 9 (PDF) |
(PDF) |
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Problem set 10 (PDF) |
(PDF) |