Special software is required to use some of the files in this section: .zip and .m. This section contains documents created from scanned original files and other documents that could not be made accessible to screen reader software. A "#" symbol is used to denote such documents.
Lecture 2 refers to the following MATLAB® files for solving ODEs: (ZIP) (The ZIP file contains: shaft_w_coulomb_viscous.m, shaftcv_kernel.m, and shaftcv_solve.m files.)
Lecture notes files.
| SES # |
TOPICS |
NOTES |
| 1 |
Introduction; mechanical elements |
(PDF) |
| 2 |
Solving ODEs; cruise control |
(PDF) |
| 3 |
Laplace transforms; transfer functions; translational and rotational mechanical transfer functions |
(PDF) |
| 4 |
Electrical and electro-mechanical system transfer functions |
(PDF) |
| 5 |
DC motor transfer function |
(PDF) |
| 6 |
Poles and zeros; 1st order systems |
(PDF) |
| 7 |
2nd order systems |
(PDF) |
| 8 |
2nd order systems (cont.) |
(PDF) |
| 9 |
More than 2 poles; zeros; nonlinearities and linearization |
(PDF) |
| 10 |
Examples of modeling & transfer functions |
(PDF) |
| 11 |
Block diagrams; feedback |
(PDF) |
| 12 |
Analysis of feedback systems |
(PDF) |
| 13 |
Quiz 1 |
|
| 14 |
Stability; Routh-Hurwitz criterion |
(PDF) |
| 15 |
Stability analysis |
Please see the following selections from MathWorks, Inc. "Control System Toolbox Getting Started Guide." (PDF - 1.8 MB)#
Chapter 1, all
Chapter 2, pp. 1-9 and 23-25
Chapter 3, pp. 1-9, 17-20, and 32-39
|
| 16 |
Steady state error analysis |
(PDF) |
| 17 |
Root locus introduction |
(PDF) |
| 18 |
Root locus example |
(PDF) |
| 19 |
Design of transient response using root locus |
(PDF) |
| 20 |
Positive feedback |
(PDF) |
| 21 |
Examples of design via root locus |
(PDF) |
| 22 |
Steady-state error compensation |
(PDF) |
| 23 |
Transient response compensation; transient and steady-state error compensation |
(PDF) |
| 24 |
Compensation examples |
(PDF) |
| 25 |
Feedback compensation and its physical realization |
(PDF) |
| 26 |
Feedback design examples |
(PDF) |
| 27 |
Quiz 2 |
|
| 28 |
Frequency response; bode plots |
(PDF) |
| 29 |
Bode plot examples |
(PDF) |
| 30 |
Gain margin and phase margin |
(PDF) |
| 31 |
Design using the frequency response; lead, lag, lead-lag compensators |
(PDF) |
| 32 |
The state-space representation |
(PDF) |
| 33 |
Solving the state equations in the time and space domains |
(PDF) |
| 34 |
State equation examples |
|
| 35 |
Stability and steady-state error in state space; controllability and observability |
|
| 36 |
Optimal control; the minimum time problem |
|
| 37 |
Review: modeling and transfer functions |
(PDF) |
| 38 |
Review: root locus, feedback design |
(PDF) |
| 39 |
Review: frequency domain and design |
(PDF) |