1 Introduction; mechanical elements N1; notes
2 Solving ODEs; cruise control Notes Problem set 1 out
3 Laplace transforms; transfer functions; translational and rotational mechanical transfer functions N2.1-2.3 and 2.5-2.6 Lab 1: parameter estimation
4 Electrical and electro-mechanical system transfer functions N2.4 and 2.7-2.8
5 DC motor transfer function Notes

Problem set 2 out

Problem set 1 due

6 Poles and zeros; 1st order systems N4.1-4.3 Lab 2: characterization of DC motor
7 2nd order systems N4.4 - 4.6
8 2nd order systems (cont.) Notes

Problem set 3 out

Problem set 2 due

9 More than 2 poles; zeros; nonlinearities and linearization N2.10, 3.7, and 4.7-4.9
10 Examples of modeling and transfer functions Notes

Problem set 4 out

Problem set 3 due

11 Block diagrams; feedback N5.1-5.2 Lab 3: proportional control of velocity (part I)
12 Analysis of feedback systems N5.3
13 Quiz 1 Problem set 4 due
14 Stability; Routh-Hurwitz criterion N6.1-6.3
15 Stability analysis N6.4 Problem set 5 out
16 Steady state error analysis N7.1-7.6 Lab 4: proportional control of velocity (part II)
17 Root locus introduction N8.1-8.5
18 Root locus example N8.6

Problem set 6 out

Problem set 5 due

19 Design of transient response using root locus N8.7 Lab 5: proportional-integral control of velocity
20 Positive feedback N8.9
21 Examples of design via root locus Notes

Problem set 7 out

Problem set 6 due

22 Steady-state error compensation N9.1-9.2 Lab 6: proportional-derivative control of position
23 Transient response compensation; transient and steady-state error compensation N9.3-9.4
24 Compensation examples Notes

Problem set 8 out

Problem set 7 due

25 Feedback compensation and its physical realization N9.5-9.6 Lab 7: design project (starts)
26 Feedback design examples Notes
27 Quiz 2 Problem set 8 due
28 Frequency response; bode plots N10.1-10.2
29 Bode plot examples Notes Problem set 9 out
30 Gain margin and phase margin N10.7
31 Design using the frequency response; lead, lag, lead-lag compensators N11.1-11.5
32 The state-space representation N3.1-3.6 Lab 8: design project (cont.) Problem set 9 due
33 Solving the state equations in the time and space domains N4.10-4.11
34 State equation examples Notes Problem set 10 out
35 Stability and steady-state error in state space; controllability and observability N6.5, 7.8, 12.3, and 12.6 Lab 9: design project (concludes)
36 Optimal control; the minimum time problem Notes
37 Review: modeling and transfer functions Notes Problem set 10 due
38 Review: root locus, feedback design Notes
39 Review: frequency domain and design Notes