ECSE 4962 Control Systems Design  Spring 2003

Instructor:                 John T. Wen, wen@cat.rpi.edu x 8744 (CII 8213)

TA:                            Ben Potsaid, potsaid@cat.rpi.edu x 2973 (CII 8123)

Secretary:                  Melissa Reardon, melissa@ecse.rpi.edu x 6313 (JEC 6049)
Lecture Hour:
           W
9:00am-11:00am

Lab Hours                TW 5:00pm-6:20pm

Classroom:                JEC 4304


Meeting Slides


1/15:  Lecture 1   Introduction  Steps in design project, and control systems design 
          introduction lecture from Control Systems Engineerig (that I taught in 2001)
1/22:  Lecture 2  Modeling (developing equation of motion of a multi-body mechanical system)  
          mechanical drawings and MATLAB files can also be found at: http://www.cat.rpi.edu/~potsaid/csd/lect2_modeling/lecture2_modeling.html
          modeling lecture from Control Systems Engineerig (that I taught in 2001)

          MATLAB files:
1/28-1/29:   Slides from Conceptual Design Presentations
         
team 1   team 2   team 3  team 4   team 5    team 6   team 7

        Conceptual design memo
         
team 1   team 2   team 3  team 4   team 5   team 6   team 7

1/29: Lecture 3  MATLAB and Simulink overview (with application to the simulation of the pan-tilt platform)
        
LTI lecture from Control Systems Engineerig (that I taught in 2001)

       MATLAB and Simulink files:
         more simulink and animation files from Ben

        Useful links on Control Systems Design using MATLAB/Simulink

2/5:   Get ready for project proposal!
          An article on encoders
          Motor datasheet
          Amp datasheet
          Encoder datasheet
 
2/11-2/12: 
Slides from Preliminary Design Presentations
         
team 1   team 2   team 3  team 4   team 5    team 6   team 7

2/12:   Lecture 4  Basic components in mechatronics systems: motor, amplifier, encoder
           Lecture 5  Linearization and basic control design

2/19:  
Lecture 6  More on control design: recap of SISO design, feedback linearization, trajectory generation
          
second order system response lecture from Control Systems Engineerig (that I taught in 2001)

       MATLAB and Simulink files:  pantiltnlcomp.mdl (pan-tilt simulation with nonlinear compensation)
        trajgen.m (trapgen.m scurvegen.m sineprofile.m sigmoid.m)

        Preliminary design reports
         
team 1   team 2   team 3  team 4   team 5    team 6   team 7

       General comments on report writing

2/26: 
Lecture 7  Mechanical Design (Ben)

          Slides from Final Design Presentations
         
team 1   team 2   team 3  team 4   team 5    team 6   team 7

          Final Design Reports
         
team 1   team 2   team 3  team 4   team 5    team 6   team 7

3/19:  Lecture 8  Control design and closed loop system simulation, real-time programming

          Simulink diagram for real-time control

3/26: 
Lecture 9  Friction Identification, model parameter identification, ARCS Interactive Development Environment (AIDE)

          Friction ID data and code
        
4/15:  Demo information sheet:  team1 team2  team3 team4  team5 team6  team7   
           Videos: group 6 demogroup 5 demogroup 1 demo

4/16: Final presentation and final report: helpful hints

          Presentation slides:  team1 team2  team3  team4  team5  team6  team7

          Video links: team1  team2 team3  team4 team5  team6 team7

          Final reports: 
team 1   team 2   team 3  team 4   team 5    team 6   team 7
            


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Email: wen@cat.rpi.edu