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