MAE 524 Control of Mechatronic Systems
Summer 2008
Course Description Syllabus Homework
Note to Students (5/29): The solution to problem set 2 is here.
Note to Students (5/29): The solution to problem set 1 is here.
Note to Students (5/19): Welcome to the web site for MAE 524 Control of Mechatronic Systems. PLEASE BOOKMARK THIS PAGE!
All of the material that you'll need for the class is located here. You may want to start by reading over the course description, syllabus, and homework. Your homework deadlines are given in the syllabus and the tests dates in the course description.
In this class, you'll need a loose-leaf binder. Print out the Course Description, the Syllabus, the Homework, and the On-Line Book below and put them in the loose-leaf binder. You won't need a separate book.
The homework problems will require that you program in MATLAB. It can be helpful, if needed, to practice ahead of time. For those interested, here's a MATLAB TUTORIAL.
Also, here's a SAMPLE HOMEWORK ASSIGNMENT. Your first homework assignment is due in a few days.
1. Complex Dynamics Simplified
Equations; Equilibrium; Linearization
2. Converting to the State Space
Nonlinear State Equations; Equilibrium; Linearization; The Euler Method; The Runga-Kutta Method; Computer Programming; Stability; Vector Methods
3. Types of Dynamical Systems, Control Problems and Control Strategies
Applications; Properties of Dynamical Systems; Control Problems; Control Strategies
4. Motion in a Stability Region (Part I)
Free Undamped Vibration; Free Damped Vibration; Free Time Response; Comparison of Limiting Cases; Constant Excitation; Harmonic Excitation
5. Motion in a Stability Region (Part II)
Fourier Series; Steady-State Response to Periodic Excitation; Complex Fourier Series; Fourier Integral (Fourier Transform); Discrete Fourier Transform; Laplace Transform
6. Tracking the Reference Path
Constructing the Reference Path; Calculating the Tracking Force
7. Regulating the Reference Path (Continuously-Acting Actuators)
Displacement Feedback; Velocity Feedback; State Feedback; Integral Feedback; PID Feedback; Time Delays; Summary
8. Regulating the Reference Path (Discretely-Acting Actuators)
Bang-Bang Feedback; Impulse Feedback
Linear Operators; Block Diagrams; Separation Principle for Tracking and Regulation; Transfer Functions
10. Treating Multi-Dimensional Systems
Equations; The Eigenvalue Problem; Properties of the Eigenvalue Problem; Modal Equations of Motion; The Double Pendulum; Actuator Dynamics
11. Regulating Multi-Dimensional Systems
PID Regulation of Modes; Physical Forces; Regulating Settling Time; Regulating Settling Time and Peak-Overshoot; Regulating Settling Time, Peak-Overshoot and Steady-State Error; Full Regulation of a Double Pendulum; Non-Full Regulation
12. Regulating Steady-State Behavior
The Single Degree-of-Freedom System; The Two Degree-of-Freedom System; The Tuned Absorber
Perturbation Analysis; Root-Locus
14. Linear Algebraic Equations
How to Minimize a Function of Several Variables; Matrix-Vector Notation; Types of Linear Algebraic Equations; Under-Determined Systems (Minimum-Norm Solutions); Uniquely Determined Systems (Unique Solutions); Over-Determined Systems (Least Squares Solutions); Weighting; Singular Value Decomposition
15. State Estimation
The Configuration Space; The State Space; Two Degree-of-Freedom Systems