## 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)

- Part 1 - Linearization and stability
- Examples

# 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:
- 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:

#### 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:

#### 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:
- 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.