ECSE 4962 Control Systems Design  Spring 2004

 

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)

In-class Group Session:      T 8:30am-9:50am

Shop Hours:                        W 6:00pm-9:00pm (meets in JEC 4304 or CII 2037)

Classroom:                          JEC 4304

 

 

 

Meeting Slides


1/13:  Introduction

1/20:  Modeling

 

          An article on encoders
          Motor datasheet
          Amp datasheet
          Encoder datasheet

 

1/27: Brief MATLAB/Simulink Overview

            Example Simulink diagram pantiltsim.mdl , initialization file pantiltmodel.m

 

2/3: xPC Target Tutorial (by Ben Potsaid) 

Demo files:  Simulink diagram: pd_demo.mdl    MATLAB script file  csddemoxpc.m

 

Design Memos:  Team1  Team2  Team3  Team4  Team5  Team6  Team7

 

2/9: Parameter Identification

 

2/18:

Proposals:  Team1  Team2  Team3  Team4  Team5  Team6  Team7

Proposal presentations: Team1  Team2  Team3  Team4  Team5  Team6  Team7

2/25: Short tutorial on feedback control

 

3/2:   More on control!  

 

Trajectory generation demonstration:  trajgen.m which calls trapgen.m scurvegen.m sigmoid.m sineprofile.m

Construction of full nonlinear model: pantilt.m compositebodies.m masscenter.m parallelaxis.m bodyb.m

 

3/16  A brief overview of mechanical design (by Ben Potsaid)  Movies: precision motion of mirror, horizontal inverted pendulum, pendubot

 

3/13  Control design example   MATLAB/Simulink files: controlexample.m ctrl.mdl

 

3/24:

Progress Report:  Team1  Team2  Team3  Team4  Team5  Team6  Team7

Progress Presentations: Team1  Team2  Team3  Team4  Team5  Team6  Team7

 

3/30  Misc. notes on control   MATLAB files: linear vs. nonlinear simulation   Simulink diagram

        Lead Lag filter notes  Schroeder phase code

 

papers on velocity estimation and friction compensation:

G. Liu: velocity estimation

G. Liu and A.A. Goldenberg: friction compensation

Astrom: friction modeling and compensation

Astrom: limitation of control

 

4/12: Pointers on final demonstration, presentation, and report

 

Final Reports:  Team1  Team2  Team3  Team4  Team5  Team6  Team7

Final Presentations: Team1  Team2  Team3  Team4  Team5  Team6  Team7

Videos: Team1, Team2a, Team2b, Team3a, Team3b, Team3c, Team4, Team5, Team6, Team7a, Team7b


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Email: wen@cat.rpi.edu