Special software is required to use some of the files in this section: .zip and .m.

A brief description of the 2.004 lab facilities and rules is provided for reference: (PDF)

The first six 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)

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 1) (PDF 2)

Tower Data (ZIP) (The ZIP file contains: 13 .m files.)