koichi

Documents

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

2019

  • 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

2015

2011

  • June 29: Nonlinear systems (including exercises)filel1.pdf
  • July 6: Phase portrait (including exercises)filel2.pdf
  • July 13: Lyapunov stabilityfilel3.pdf
  • July 20: Global stability, Backstepping (including exercises)filel4.pdf
  • August 3: Robot Controlfilel5.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

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