ME C134 / EE C128: Feedback Control Systems (Spring 2024)

Professor Somayeh Sojoudi, UC Berkeley Instructor: Somayeh Sojoudi Time: Tuesdays and Thursdays, 12:30-2 pm Instructor’s Office Hours: Thursdays, 10:15-11:15am TAs: Brendon Anderson (bganderson@berkeley.edu); Nathan Biesterfeld (biesterfeld@berkeley.edu); Wu-Te Yang (wtyang@berkeley.edu)

Grading Policy

  • Homework: 15%

  • Lab reports: 30%

  • Midterm exam (March 7): 20%

  • Final exam: 35%

Description

This course provides a basic understanding of control systems, including:

  • Analysis and synthesis of linear feedback control systems in transform and time domains

  • Control system design by root locus, frequency response, and state space methods

  • Applications to electro-mechanical and mechatronics systems

Textbook

  • “Control Systems Engineering” by Norman S. Nise, Wiley, Edition: 6th (5th or 7th are fine too)

Schedule

  • Lecture and lab schedule

Course Topics and Material

  • “Overview, intro. to feedback control, dynamic models”, Ch.1, Slides

  • “Modeling in the frequency domain”, Ch. 2, Slides

  • “Modeling in the Time domain”, Ch.3, Slides

  • “Time response”, Ch. 4 Slides

  • “Stability”, Ch. 6 Slides

  • “Steady-State-Errors”, Ch. 7 Slides

  • “Root Locus Techniques”, Ch. 8 Slides

  • “Design via Root Locus”, Ch. 9 Slides

  • “Frequency Response Techniques”, Ch. 10 Slides

  • “Design via Frequency Response”, Ch. 11 Slides

  • “Design via State Space”, Ch. 12 Slides

  • “Digital Control Systems”, Ch. 13 Slides

Note:

  • Homework submission: Gradescope

  • The lowest homework grade will be dropped.

  • You will lose points for late homework. Up to 12 hours late: 25 points off. 12-24 hours late: 50 points off. You will receive no points if you submit after 24 hours.

labs

Lab Documents

  • Week 1: No lab

  • Week 2: No lab

  • Week 3: No lab

  • Week 4: Lab 1: Intro to MATLAB and Simulink

  • Week 5: No lab

  • Week 6: Lab 2: Basic concepts in control system design

  • Week 7: Lab 3: Quanser hardware and proportional control

  • Week 8: No lab

  • Week 9: No lab

  • Week 10: Lab 4: Position Control of a Cart

  • Week 11: No lab (Spring break)

  • Week 12: Lab 5a: Magnetic Levitation

  • Week 13: Lab 5b: Magnetic Levitation

  • Week 14: Lab 6a: Pole Placement for the Inverted Pendulum

  • Week 15: Lab 6b: Luenberger Observer Design for Inverted Pendulum

Lab Logistics

  • All Prelabs are to be done individually. Lab 1 will be an individual lab. Labs 2-6b will be in groups of 2-3 students. Please form groups with students that you can meet with multiple times throughout the week; an ED post will help aid you in finding a group.

Lab Guidelines:

  • Lab Report Policies and Guidelines