MAE 143B: LINEAR CONTROL SUMMARY
http://www-mae.ucsd.edu/research/krstic/schuster/teaching/mae143B/mae143B.html
Instructor: Eugenio Schuster
Room 1801, Engineering
Building Unit I (EBUI)
Phone: (858) 822-2406
Email: schuster@mae.ucsd.edu
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Class Times & Location: |
Monday/Wednesday/Friday 8:00 to 9:50 AM, WLH 2115 Tuesday/Thursday 5:00 to 5:50 PM, WLH 2114 |
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Course Description: |
Analysis and design of feedback systems in the
frequency domain. Transfer functions. Time response specifications. PID
controllers and Ziegler-Nichols tuning. Stability via Routh-Hurwitz test.
Root locus method. Frequency response: Bode and Nyquist diagrams. Dynamic
compensators: phase-lead and phase-lag. Actuator saturation and integrator
wind-up. |
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Textbook: |
“Feedback Control of Dynamic Systems”, 4th
edition by Franklin, Powel and Emani-Naeini. Available at the UCSD
Bookstore. |
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Material Covered: |
We will work through Chapters 1-6 in order. |
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Prerequisites: |
A
grade of C- or better in MAE 143A. |
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Teaching Assistant: |
Olga Koroleva: olga@ucsd.edu
(discussion sessions, office hours homework and exam grading) |
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Office Hours: |
Schuster: Monday/Wednesday/Friday 10:00-10:30 AM – 1801 EBUI ((or) by appointment – Contact instructor by e-mail. Koroleva: Tu/Th 6:00-7:00 PM – WLH 2114 M 6:00-7:00 PM
– 105 EBUII Th 11:00AM –
12:00PM – 105 EBUII or by appointment – Contact TA by e-mail |
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Syllabus: |
Modeling. ODEs. Linearization. Laplace transform. Transfer functions. Block diagrams. Mason’s Rule. Time response
specifications. Effects of zeros and
poles. Stability via
Routh-Hurwitz. Feedback: Disturbance
rejection, Sensitivity, Steady-state tracking. PID controllers and
Ziegler-Nichols tuning procedure. Actuator saturation and
integrator wind-up. Root locus. Frequency response--Bode
and Nyquist diagrams. Stability Margins. Design of dynamic compensators. |