koichi
Documents
Google Classroom: wsmopec
2021 2Q
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 211.
 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 226.
 November 5: 5. Dynamic Behavior (4. Examples is skipped).
 Phase portrait, Stability and Linearization
 Report: Exercises from the book
 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
 June 3: Nonlinear modeling l00_2015.pdf
 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
 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
