University of California,
Santa Barbara
Department of Electrical and Computer Engineering
Digital Control
Lecture Handouts and Schedule
| ECE 147B Homepage | Homework | Lecture Materials | Laboratories |
Schedule below is subject to change.
Tentative lecture schedule can also be found in the Syllabus.
Videos of lectures from last year (Winter 2012) can be found here: ECE 147b Winter 2012 Lectures
Either FPW or FV is sufficient for this class; you do NOT need both!| Week | Pre-lab due 5pm Monday in dropbox | Report due in lab | HW due 5pm, in dropbox. | Topics | Reading ("Refresh" your browser for latest handouts...) | ||||||
| ---- | ------------ | -------- | -------- | ----------------------------- | ---------------- | ||||||
| 1 | (1/7) N/A | -- | -- | L1: Review of CT dynamics and control. Bode and Nyquist. L2: Difference equations. Sampling. Tustin (bilinear) approx. | L1 slides, L1 slides (annotated, small),
FPW (Ch.1), 2.1-2.5; RS-1,2; FV 2.1, 5.1-5.3
L2 slides, L2 slides (annotated, small), FPW 3.1-3.2, 4.1; RS-3; FV 2.1, 3.1-3.2, 3.4, 6.3.1, 6.3.3 | ||||||
| 2 | (1/14) 1a | -- | HW1 (1/18) | L3: Discrete-time transfer function (DT TF). L4: z Transform. Tustin with pre-warp. | L3 handout, L3 slides (annotated),
FPW 4.2.2; RS-4; FV 3.3-3.7
L4 handout, L4 slides (annotated), FPW 4.2.1, 4.3.1, 4.6.1; 6.1 (pp.194-195) RS-5; FV2.3, 2.5 | ||||||
| 3 | (1/22*) 1b | 1a | HW2 (1/25) | L5: Time response. s-plane vs z-plane. L6: Freq response. Direct control design: deadbeat control. | L5 handout, L5 slides (annotated),
FPW 4.4; 7.3.1; RS-3; FV 2.6
L6 slides, L6 slides (annotated), FPW 4.5, 7.5; RS-7; FV 2.8, 4.1-4.6, 6.7 | ||||||
| 4 | (1/28) 2a | 1b | HW3 (2/1) | L7: Intro to state space (SS). L8: State space, continued. | L7 handout, L7 slides (annotated)FPW 4.3.3; RS-8; FV 7.1, 7.2
L8 handout, L8 slides (annotated), FPW 6.1 (pp.197-200); RS-9; FV 7.6, 7.7 | ||||||
| 5 | (2/4) 2b | 2a | HW4 (2/8) | L9: SS numerical approx. Zero-Order Hold (ZOH) in SS. L10: Review for midterm. | L9 handout, L9 slides (annotated), FPW 6.1 (pp.197-200); RS-10; FV 7.8, 7.9
L10 slides (annotated), Review material through Feb.5. | ||||||
| 6 | (2/11) -- | -- | -- | L11: Controller design: State feedback. Midterm Feb.12: Usual class time and place. | L11 handout, L11 slides (annotated), FPW 7.2, 8.1; RS-11; FV 6.5, (9.1), 9.2 One (1) SINGLE-SIDED sheet of notes. | ||||||
| 7 | (2/19*) 3a | 2b | HW5 (2/22) | L12: Control Canonical form. Controllability. L13: Estimator design via pole placement. | L12 handout, L12 slides (annotated), FPW 7.2, 8.1; RS-11; FV 6.5, (9.1), 9.2
L13 handout, L13 slides (annotated), example_controllability.m, FPW 8.2.1-8.2.4; RS-12; FV 9.5.1 | ||||||
| 8 | (2/25) 3b | 3a | HW6 (3/1) | L14: Reduced-order estimator. Separation principle. L15: Frequency response methods. | L14 handout, L14 slides (annotated), FPW 8.2.5, 8.3; RS-13; FV 9.5.2, 9.6
L15 handout, L15 slides (annotated), FPW 7.4; FV (6.4), 6.5, (6.6) | ||||||
| 9 | (3/4) 3c | 3b | HW7 (3/8) | L16: Reference tracking. L17: Integral control via state augmentation. | L16 handout, L16 slides (annotated), FPW 8.4.1; RS-14; FV 9.3, 10.4.3
L17 handout, L17 slides (annotated), FPW 8.5.1; RS-15; FV p.370 | ||||||
| 10 | (3/11) [4**] | 3c | HW8 (3/16) | L18: Opt. Control: LQR; least-squares (LS) est. L19: Review for final. | L18 handout, L18 slides (annotated), FPW 9.3.5, 9.4.1; RS-16; FV 10.2-10.4
L19 slides (annotated), Review all material to date. | ||||||
| -- | -- | -- | -- | Thursday, March 21, 4-7pm: FINAL EXAM | Two (2) single-sided sheets of notes. |
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Last Updated: March 15, 2013