COURSE DESCRIPTION
This course investigates linear, time-invariant (LTI) systems in both continuous and discrete time. We will see how to model, analyze, and control such systems as well as apply our newfound tools and techniques to applications found for example in electronics, robotics, and manufacturing!
COURSE WEBSITE
This page: http://users.ece.gatech.edu/~magnus/ece3085.html
WORKLOAD
Your responsibilities in this class will fall into three categories:
1. The homework sets (consisting of 5 homework assignments) 33.33333%. The credit will be divided equally between programming assignments, project assignments, and theoretical exercises. A theme throughout the course will be the implementation of control concepts on mobile robots. This will be reflected in the homework where a matlab-based robot simulator will be used extensively.
2. Two in-class exams/quizes. (16.66667% each = total of 33.33333%.)
3. The final exam. It will cover all the material presented in the class. It will be a closed-book exam, contributing to a total of 33.33333%.
PROGRAMMING
The objective with the homework programming assignments is to see how to bridge the gap between what's done in class and how to actually apply it. (The actual programming involved will be very minor.) The assignments will be matlab-based.
READING
The official textbook is Franklin, Powell, and Emami-Naeini, Feedback Control of Dynamic Systems, 6th Ed., Prentice Hall, 2009.
TIME AND PLACE
The lectures will be held at 12-1 Mondays, Wednesdays, and Fridays in Van Leer C241.
PREREQUISITES (I will redo everything we need from scratch...)
ECE2025 for LTI systems concepts and Z transforms
ECE2040 for Laplace transform methods and electric circuit modeling
HONOR CODE
Although you are encouraged to work together to learn the course material, the exams and homework are expected to be completed individually. All conduct in this course will be governed by the Georgia Tech honor code.
SCHEDULE
| Date | Lecture subject | Reading/Homework |
| Jan. 9 | Introduction and course outline | |
| Jan. 11 | Control systems | Ch.1 |
| Jan. 13 | A design example | |
| Jan. 16 | School Holiday - NO CLASS | |
| LAPLACE TRANSFORMS AND DIFFERENTIAL EQUATIONS | ||
| Jan. 18 | Laplace transforms | Ch.3 |
| Jan. 20 | Key properties | Ch.3 |
| Jan. 23 | Differential equations | Ch.2 |
| Jan. 25 | Partial fraction expansions | Ch.3 |
| Jan. 27 | Examples | HW1 due |
| Jan. 30 | Mobile robots | |
| INPUT-OUTPUT SYSTEMS | ||
| Feb. 1 | Input-output systems | Ch.3 |
| Feb. 3 | Transfer functions | Ch.3 |
| Feb. 6 | Zero state/input responses | Ch.3, HW2 due (robot models) |
| Feb. 8 | Examples | |
| Feb. 10 | Modes, zeros, and poles | Ch.3 |
| Feb. 13 | Review | |
| Feb. 15 | QUIZ 1 | |
| Feb. 17 | Stability | Ch.3 |
| Feb. 20 | Routh's criterion | Ch.3 |
| FEEDBACK DESIGN | ||
| Feb. 22 | Feedback design | Ch.4 |
| Feb. 24 | PID regulators | Ch.4 |
| Feb. 27 | Tracking | Ch.4 |
| Feb. 29 | Examples | HW3 due (robot control) |
| Mar. 2 | Disturbance rejection | Ch.4 |
| Mar. 5 | Step response | Ch.4 |
| Mar. 7 | Review | |
| Mar. 9 | QUIZ 2 | |
| Mar. 12 | Lead-Lag control | Ch.4 |
| Mar. 14 | System inversion | Ch.4 |
| Mar. 16 | Second order systems | Ch.4 |
| Mar. 19 | Spring Break - NO CLASS | |
| Mar. 21 | Spring Break - NO CLASS | |
| Mar. 23 | Spring Break - NO CLASS | |
| Mar. 26 | System identification | |
| GRAPHICAL TECHNIQUES | ||
| Mar. 28 | Root locus | Ch.5 |
| Mar. 30 | Design rules | Ch.5, HW4 due (robot sysID) |
| Apr. 2 | Examples | |
| Apr. 4 | Nyquist plots | Ch.6 |
| Apr. 6 | Examples | |
| Apr. 9 | Bode diagrams | Ch.6 |
| Apr. 11 | Examples | |
| ADDITIONAL TOPICS | ||
| Apr. 13 | Discrete-time systems | Ch.8 |
| Apr. 16 | Implementation issues | Ch.8 |
| Apr. 18 | State-space models | Ch.7, HW5 due (robot navigation) |
| Apr. 20 | Control and observer design | Ch.7 |
| Apr. 23 | Examples | |
| Apr. 25 | Robotics project | |
| Apr. 27 | Review | |
| May 4 | FINAL EXAM - 11:30-2:20 (subject to change) |