Contents

• Things to do after each class
  • Part 1 - Linearization and stability
    • Wednesday, January 18 (Introduction)
    • Friday, January 20 (Start talking about PID controllers)
    • Monday, January 23 (Finish talking about PID controllers + Simulation)
    • Wednesday, January 25 (Simulation + Moving from PID to linear state feedback)
    • Friday, January 27 (Implementation of linear state feedback)
    • Monday, January 30 (Linearization to get a state space model)
    • Wednesday, February 1 (Matrix exponential and asymptotic stability)
    • Friday, February 3 (Availability and use of example reports, summary of design process so far)
    • Monday, February 6 (Diagonalization, Part 1)
    • Wednesday, February 8 (Diagonalization, Part 2)
    • Friday, February 10 (Exams, Projects)
    • Monday, February 13 (No class)
  • Part 2 - Controller design
    • Wednesday, February 15 (Eigenvalue placement)
    • Friday, February 17 (Second design project)
    • Monday, February 20 (Ackermann’s method - theory)
    • Wednesday, February 22 (Ackermann’s method - implementation + Controllability)
    • Wednesday, February 24 (LQR introduction)
    • Monday, February 27 (LQR problem statement)
    • Wednesday, March 1 (LQR details)
    • Friday, March 3 (LQR examples)
    • Monday, March 6 (No class)
  • Part 3 - Observer design
    • Wednesday, March 8 (Observer implementation)
    • Friday, March 10 (Observer design and analysis)
    • Monday, March 20 (Third design project)
    • Wednesday, March 22 (More observer design and analysis)
    • Friday, March 24 (Optimal observers, part 1)
    • Monday, March 27 (Optimal observers, part 2)
    • Wednesday, March 29 (Optimal observers, part 3)
    • Friday, March 31 (No class)
  • Part 4 - Tracking and frequency response
    • Monday, April 3 (Random number generation)
    • Wednesday, April 5 (Tracking, part 1)
    • Friday, April 7 (Tracking, part 2)
    • Monday, April 10 (Fourth design project)
    • Wednesday, April 12 (Frequency response, part 1)
    • Friday, April 14 (Frequency response, part 2)
    • Monday, April 17 (Transfer function)
    • Wednesday, April 19 (Bode plot)
    • Friday, April 21 (Bandwidth + Computation time)
    • Monday, April 24 (No class)
    • Wednesday, April 26 (Collision avoidance)
• Examples

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Things to do after each class

Part 1 - Linearization and stability

Wednesday, January 18 (Introduction)

• Read the syllabus.
• Follow the “Setup” instructions so you can run course code on your own computer.

Friday, January 20 (Start talking about PID controllers)

• Fill out this form to express group preferences for your first design project.
• Read the reference page on PID.
• (Optional) Read Chapter 1.6 of the reference text (Feedback Systems), or the whole of Chapter 1, for more information on PID controllers and on the idea of “control systems” in general.
• Complete HW1 in PrairieLearn.

Monday, January 23 (Finish talking about PID controllers + Simulation)

• Complete the “Setup” instructions if you have not already done so, and ask for help (e.g., campuswire, office hours, etc.) if you get stuck.
• Complete HW2 in PrairieLearn.

Wednesday, January 25 (Simulation + Moving from PID to linear state feedback)

• Contact your partner for the first design project, arrange a time to meet, and make sure both of you have completed the “Setup” instructions if you have not already done so.
• Complete HW3 in PrairieLearn.

Friday, January 27 (Implementation of linear state feedback)

• Read the guidelines for the first design project.
• Complete HW4 in PrairieLearn.

Monday, January 30 (Linearization to get a state space model)

• Read the notes on linearization from class.
• Read the reference page on state space models, which goes step-by-step through the process of linearization.
• (Optional) Read Chapter 6.4 of the reference text (Feedback Systems) for more information on linearization, including alternatives to “linearization about an equilibrium point.”
• Complete HW5 in PrairieLearn.

Wednesday, February 1 (Matrix exponential and asymptotic stability)

• Read the notes on solving closed-loop systems with the matrix exponential function from class.
• Read the reference page on the matrix exponential function and on asymptotic stability.
• Complete HW6 in PrairieLearn.

Friday, February 3 (Availability and use of example reports, summary of design process so far)

• Read the campuswire post about prior work to learn and build upon for your projects.
• Submit DP1 Draft 1 by midnight today.
• Read the notes on the complete design process so far, from class.
• Complete HW7 in PrairieLearn.

Monday, February 6 (Diagonalization, Part 1)

• Re-read the reference page on the matrix exponential function and on asymptotic stability.
• Read the notes on diagonalization (part 1) from class.
• Complete HW8 in PrairieLearn.

Wednesday, February 8 (Diagonalization, Part 2)

• Read the notes on diagonalization (part 2) from class.
• Complete HW9 in PrairieLearn.

Friday, February 10 (Exams, Projects)

• Submit DP1 Draft 2 by midnight today.
• Sign up for and take Exam 1 in the CBTF

Monday, February 13 (No class)

• Good luck on your exam! I will hold an extra office hour during our normal class time.

Part 2 - Controller design

Wednesday, February 15 (Eigenvalue placement)

• Read the notes on eigenvalue placement from class.
• Complete HW10 in PrairieLearn.
• Fill out this form to express group preferences for your second design project.

Friday, February 17 (Second design project)

• Submit all final deliverables for the first design project.
• Read the guidelines for the second design project
• Contact your partner for the second design project and make a plan to get started.

Monday, February 20 (Ackermann’s method - theory)

• Read the notes on Ackermann’s method (theory) from class.
• Complete HW11 in PrairieLearn.

Wednesday, February 22 (Ackermann’s method - implementation + Controllability)

• Read the notes on Ackermann’s method (implementation) and on controllability from class.
• Read the reference page on eigenvalue placement
• (Optional) Watch supplementary videos on Ackermann’s method:
  • Ackermann’s Method, Part 1 (Eigenvalues are invariant to coordinate transformation)
  • Ackermann’s Method, Part 2 (Controllable canonical form)
  • Ackermann’s Method, Part 3 (How to put a system in controllable canonical form)
  • Ackermann’s Method, Part 4 (Putting it all together)
• Complete HW12 in PrairieLearn.

Wednesday, February 24 (LQR introduction)

• Read the notes on LQR (introduction) from class.
• Complete HW13 in PrarieLearn.

Monday, February 27 (LQR problem statement)

• Read the notes on LQR (problem statement) from class.
• Complete HW14 in PrarieLearn.

Wednesday, March 1 (LQR details)

• Read the notes on LQR (details) from class.

Friday, March 3 (LQR examples)

• Submit DP2 Draft 2 by midnight today.
• Sign up for and take Exam 2 in the CBTF

Monday, March 6 (No class)

• Good luck on your exam! I will hold an extra office hour during our normal class time.

Part 3 - Observer design

Wednesday, March 8 (Observer implementation)

• Complete HW15 in PrairieLearn.

Friday, March 10 (Observer design and analysis)

• Fill out this form to express group preferences for your third design project.
• Submit all final deliverables for the second design project.
• Read the notes on observers (part 1) from class.
• Complete HW16 in PrairieLearn.
• (Optional) Watch supplementary videos on observer design and analysis:
  • What is an observer?
  • Do observers make sense?
  • When does an observer work?
  • How to choose $L$ for an observer?
  • Do observers break controllers?
  • When is observer design possible?

Monday, March 20 (Third design project)

• Read the guidelines for the third design project.
• Complete HW17 in PrairieLearn.

Wednesday, March 22 (More observer design and analysis)

• Read the notes on observers (part 2) from class.
• Complete HW18 in PrairieLearn.

Friday, March 24 (Optimal observers, part 1)

• Read the notes on optimal observers from class.

Monday, March 27 (Optimal observers, part 2)

• Read the notes on optimal observers from class.
• Complete HW19 in PrairieLearn.

Wednesday, March 29 (Optimal observers, part 3)

• Read the notes on optimal observers from class.
• (Optional) Watch supplementary videos on optimal observers:
  • What is an optimal observer?
  • What problem is solved to produce an optimal observer?
  • Do optimal observers make any sense at all?

Friday, March 31 (No class)

• Submit DP3 Draft 2 by midnight today.
• Have fun at EOH! I will hold an extra office hour during our normal class time.

Part 4 - Tracking and frequency response

Monday, April 3 (Random number generation)

• See example code.

Wednesday, April 5 (Tracking, part 1)

• See example code.

Friday, April 7 (Tracking, part 2)

• See example code.

Monday, April 10 (Fourth design project)

• Read the guidelines for the third design project.

Wednesday, April 12 (Frequency response, part 1)

• Complete HW20 in PrairieLearn.

Friday, April 14 (Frequency response, part 2)

• Complete HW21 in PrairieLearn.

Monday, April 17 (Transfer function)

• Read the notes on transfer functions from class
• Complete HW22 in PrairieLearn.
• (Optional) Watch supplementary videos on frequency response:
  • What is the transfer function? What is the frequency response? Why are these things important?
  • What is the solution to a system with input?
  • What is a complex number?
  • How do I derive the transfer function?
  • How do I derive the frequency response?
• See example code.

Wednesday, April 19 (Bode plot)

• Read the notes on Bode plots from class.
• See example code.

Friday, April 21 (Bandwidth + Computation time)

• See example code.

Monday, April 24 (No class)

• Good luck on Exam 4!

Wednesday, April 26 (Collision avoidance)

• Read the notes on collision avoidance from class
• See example code.

Examples

• See examples folder of the ae353 github repository