Hashimoto Laboratory, Graduate School of Information Sciences, Tohoku University

koichi

Documents

Google Classroom: wsmopec

2021 2Q

• Textbook: Feedback Systems: An Introduction for Scientists and Engineers (second edition), Astrom and Murray
• complete text download: https://fbsbook.org
• install matlab: https://jp.mathworks.com/academia/tah-portal/tohoku-university-31485743.html

Bring your device and the downloaded pdf files to the class. Online use of software tools is recommended.

2019

• Textbook: Feedback Systems: An Introduction for Scientists and Engineers, Astrom and Murray
• We use the second edition. The pdf files from this web page are printable.
• The chapter number of the first edition has been updated in the second edition.
• Authors' web: http://www.cds.caltech.edu/~murray/amwiki/index.php/Second_Edition
• Software tools: Matlab, Octave, Python
• Functions not found?: Support page

• October 8: 1. Introduction, and 2. Feedback Principles
  • Report:
    • Exercise 1.4
    • Step response of the transfer function "tf(1, [1,1])".
    • Step response of the transfer function G(s) on page 2-11.

• October 28: 2.Feedback Priinciples, and 3. System Modeling
  • Report:
    • 2.3 P and PI controller: Confirm Figure 2.8 using your software.
    • 2.4 Track reference signals: Confirm Figure 2.9 using your software.
    • Implementation of Integral: Calcurate Transfer function Gwe form Figure 2.17.
    • Positive feedback with saturation: Simulate the behavior of the system shown in 2-26.

• November 5: 5. Dynamic Behavior (4. Examples is skipped).
  • Phase portrait, Stability and Linearization
  • Report: Exercises from the book
    • 5.2
    • 4.1
    • 5.3

• November 12: Class Canceled

• November 19: 5. Dynamic Behavior
  • Lyapnov function, stability, asymptotical stability
  • Report
    • Simulate sinusoidal input system. Discritaize and observe the difference.
    • Plot the function given in Example 5.10. By writing the graph discuss the stability of all equilibrium points.
    • Exercises 5.4
    • Exercises 5.7 (assume distinct eigenvalues)

Please print out the pdf files and bring them to the class.

2017

• Textbook: Feedback Systems: An Introduction for Scientists and Engineers, Astrom and Murray
• web: http://www.cds.caltech.edu/~murray/amwiki/index.php/Second_Edition
• tool: Matlab, Octave

2015

• June 3: Nonlinear modeling l00_2015.pdf
  • sample matlab code phaseplot2.m, func_d.m
• June 10: Nonlinear systems l1_2015.pdf
• June 17: Linearization, Phase portrait l2_2015.pdf
• June 24: Positive Definite Function, Lyapnov stability l3_2015.pdf
• July 1: Lyapnov stability and LTI systems (updated July 8) l4_2015.pdf
  • sample matlab code pend_pp.m, pend_ppl.m
• July 8: Lyapnov stability and Feedback linearization;
• July 15: Robot control l5_2015.pdf

2011

• June 29: Nonlinear systems (including exercises)l1.pdf
• July 6: Phase portrait (including exercises)l2.pdf
• July 13: Lyapunov stabilityl3.pdf
• July 20: Global stability, Backstepping (including exercises)l4.pdf
• August 3: Robot Controll5.pdf

2009

• June 17: Nonlinear Systems
• June 24: Phase portrait, Exercises (Exercises updated: 23, June)
• July 1: Lyapunov Stability
• July 8: Lyapunov Stability (global, LTI), Exercises, Feedback Control
• July 15: Robot Control