Instruction team

Prof Samuel Burden (Sam; he/him/his; http://faculty.uw.edu/sburden)

- class time: TuTh 12:30--1:20p in OUG 141 (also on Zoom)

- office hours: TuTh 1:30--2:20p in OUG 141 (also on Zoom)

- additional meetings available by appointment

- please use Canvas conversations to contact Prof Burden

TA Tim Amish; he/him/his

- Contact: amishte@uw.edu
- office hours: ECE M406 Wed 3-4pm, Th 10-11am or by appointment through email

Grader Christina Liu

- please use Canvas conversations to contact Prof Burden about grading

Schedule -- lectures, class meetings, homework, exams

Zoom: use the Zoom link in the navigation toolbar (or this link) to join class synchronously or watch class recordings (under Cloud Recordings after clicking the Zoom link).

JupyterHub: you can access the Python server for this course using the address https://jupyter.rttl.uw.edu/2023-autumn-e-e-447-a. For a quick tutorial on accessing course materials using this tool, see this video.

Examples: the computational demonstrations from lecture are collected in a Python notebook that's full of examples -- feel free to reuse this code in your coursework!

Textbook: There is no required textbook for this course, i.e. you do not need to purchase a textbook. With that said, the lecture material is largely drawn from the following two books:

[Nv7] Control Systems Engineering (7th edition) by Nise includes many worked examples, but unfortunately it is quite expensive.
[AMv2] Feedback Systems (2nd edition) by Astrom and Murray is freely available, and there is a wiki with helpful resources like lecture slides, a list of exercises organized by Chapter, an FAQ, and errata, but unfortunately it has fewer worked examples.

Week 0 (Sep 28) welcome to Control Systems! lecture slides

Week 1 (Oct 3 & 5) control systems [AMv2 Ch 1, 2; Nv7 Ch 3, 4, 5; LO 1, 2, 4]: define concepts of system, control system, and feedback control; introduce differential equations, transfer functions, and block diagrams. lecture notes, hw0 , hw0 solution , Tue Oct 3

01a -- what is a system? (~15min)
01b -- differential equations (DE) (~30min)
01c -- transfer functions (~15min)
01bc -- differential equations and transfer functions (~30min)
01d -- block diagrams (~15min)
01f -- feedback control (~45min)

Week 2 (Oct 10 & 12) state space nonlinear systems [AMv2 Ch3; Nv7 Ch 3, 4, 5; LO 1, 4, 5, 6]: further develop mathematical modeling tools (nonlinear differential equations, state space) and apply them to models of physical phenomena using a combination of pen-and-paper analysis and scientific computing. lecture notes, hw1 , hw1 solution , Tue Oct 10, Tue Oct 12

02a -- state space (~20min)
02b -- time: continuous and discrete (~20min)
02c -- linear systems (~20min)
02d -- nonlinear systems (~20min)

Week 3 (Oct 17 & 19) stability [AMv2 Ch 5, 6; Nv7 Ch 2, 6, 8; LO 1, 2, 4, 6]: stability in linear and nonlinear systems, Routh-Hurwitz criteria, eigenvalue tests, visualization, parametric stability, root locus. lecture notes, hw2 , hw2 solution , Tue Oct 17

03a -- equilibria (~20min)
03b -- characteristic polynomial (~15min)
03c -- Routh-Hurwitz (~17min)
03d -- eigenvalues (~32min)
03e -- parameter dependence (~35min)

Week 4 (Oct 24 & 26) linearity [AMv2 Ch 6; Nv7 Ch 2, 3; LO 1, 3]: linearization -- i.e. approximation of a nonlinear system by a linear system -- and the homogeneous and particular response of a linear system in state-space form. lecture notes, hw3, hw3 solution, Tue Oct 24

04a -- linearization (~32min)
04b -- matrix exponential (~33min)
04b -- matrix exponential examples (~20min)
04c -- convolution equation (~39min)

Week 5 (Oct 31 & Nov 2) take-home exam due 11:59p Fri Nov 3: covers all lecture and homework material through Thu Oct 26. exam1, solution

Fall 2019 exam1, solution -- Note: this was an in-class exam
Fall 2020 exam1, solution
Fall 2021 exam1, solution

Note: there is a presentation and panel by engineers from Apple that overlaps with the Oct 31 class meeting.

Week 6 (Nov 9) state space control [AMv2 Ch 7 & 8; Nv7 Ch 12.2, 12.5; LO 8 & 9]: design of full-state feedback controllers, state estimators, and combinations of the two. lecture notes, hw4x6, hw4x6 solution, Thu Nov 9

Note: Nov 7 class meeting is cancelled to encourage participation in WAFER.

06a -- state feedback (~23min)
06a -- state feedback examples (~24min)
06b -- state estimation intro (~12min)
06b -- state estimation (~27min)
06b -- state estimation examples (~17min)
06c -- stabilizing controller (~20min)

Week 7 (Nov 14 & 16) frequency-domain analysis [AMv2 Ch 10 & 12; Nv7 Ch 10; LO 5, 7, 8]: transfer matrix from a state-space LTI system, Bode plots, effect of disturbances (i.e. sensitivity), and fundamental limits. lecture notes,

Week 8 (Nov 21) computational tools (Python Control Systems Library): representation in state-space and frequency domain; analysis using phase portraits, impulse/step/frequency response, Bode plots, root locus diagrams; controller synthesis and interconnection. lecture notebook

08 -- python-control (~42min)

Week 9 (Nov 28 & 30) frequency-domain control [AMv2 Ch 10 & 12; Nv7 Ch 10; LO 5, 7, 8]: Nyquist stability criterion; stability margins (gain margin, phase margin); root locus diagrams. lecture notes, hw7, hw7 solution

09a -- Nyquist stability criterion (~27min)
09b -- stability margins (~26min)
09c -- root locus (~32min)

Week 10 (Dec 5 & 7) take-home exam due 11:59p Fri Dec 8: covers all lecture and homework material through Thu Nov 30. exam2

Fall 2019 exam2, solution -- Note: this was an in-class exam
Fall 2020 exam1, solution
Fall 2021 exam1, solution

Finals week: there will be no coursework during the University's Final Exam Week -- enjoy your break!