BISON ACADEMY

Courses taught in the

Department of Electrical and Computer Engineering

North Dakota State University

 

ECE 463/663: Modern Control

Syllabus: Spring 2023

 

Syllabus - HW & Solutions - Resources - Comments

 


Instructor: Jacob Glower
Contact Info: Jacob.glower@ndsu.edu
Class Times: MWF 10am, Lebedeff 314 & on Zoom


Please send homework solutions to Jacob_Glower@yahoo.com with header HWx ECE 463

(or hardcopy or submit on blackboard)


 

 

Date

Topic

Lecture

YouTube PlayList

Handouts

Code

Used in lecture

Homework

M

Jan 9

Holiday

0: Intro to ECE463

 

 

HW #1

Solution #1 (pdf)

Solution #1 (YouTube)

W

Jan 11

Syllabus

Sides #0

MATLAB Review

Slides #1

1 Matlab Review

 

F

Jan 13

LaPlace Transforms

Slides #2

2 LaPlace Transform

2 1st &2nd Order Approx

-

2nd Order Approximations

 

M

Jan 16

Holiday

 

 

 

HW #2

Solution #2 (pdf)

Solution #2 (YouTube)

W

Jan 18

State Space

Slides #3

3 State Space

3 State Space

 

F

Jan 20

Eigenvalues and Eigenvectors

Slides #4

4 Eigenvalues

4 Eigenvalues

Heat

M

Jan 23

Canonical Forms & Similarity Transforms

Slides #5

5 Canonical Forms

5 Canonical Forms

 

HW #3

W

Jan 25

LaGrangian Dynamics

Slides #6

6 LaGrangian Dynamics

6 LaGrangian Dynamics

Ball

BallDisplay

BallDynamics

F

Jan 27

Cart & Pendulum System

Slides #7

7 Cart & Pendulum

 

Cart

CartDisplay

CartDynamics

Gantry

GantryDisplay

GantryDynamics

M

Jan 30

Ball and Beam System

Slides #8

8 Ball and Beam

 

Beam

BeamDisplay

BeamDynamics

HW #4

W

Feb 1

Dynamics of a 2-Link Robot

Slides #9

9 2-Link Robot

 

TwoLink

TwoLinkDynamics

F

Feb 3

Dynamics of a Double Pendulum

Slides #10

10 Double Pendulum

 

DP Demo

 

 

Cart2

Cart2Display

Cart2Dynamics

Gantry2

Gantry2Display

Gantry2Dynamics

M

Feb 6

Controllability / Observability

Slides #11

11 Controllability

 

 

 

W

Feb 8

Review

 

 

 

F

Feb 10

Test #1

 

 

 

M

Feb 13

Full-State Feedback

Slides #12

12 Feedback

 

HW #5

W

Feb 15

Bass Gura

Slides #13

13 Bass Gura

 

F

Feb 17

Pole Placement: Heat Eq

Slides #14

14 PPL Heat

 

Heat

M

Feb 20

Holiday

 

 

HW #6

W

Feb 22

Pole Placement: Cart & Pendulum

Slides #15

15 PPL Cart

 

F

Feb 24

Servo-Compensators

Slides #16

16 DC Servo Comp

 

Beam

Heat

M

Feb 27

SC for Sinusoidal Setpoints

Slides #17

17 AC Servo Comp

 

Step3

HW #7

W

Mar 1

Generalized Servo-Compensator

Slides #18

18 General Servo

 

F

Mar 3

Full-Order Observers

Slides #19

19 Full Order Observers

 

Gantry

GantryDisplay

Heat

M

Mar 6

The Separation Principle

Slides #20

20 The Separation Principle

 

Cart

CartDisplay

Heat

Heat2

HW #8

W

Mar 8

Observers and Disturbances

Slides #21

21 Observers and Disturbances

 

Beam

BeamDisplay

Heat

Heat2

F

Mar 10

Reduced Order Observers

Slides #22

22 Reduced order Observers

 

 

M

Mar 13

Holiday

 

 

 

 

W

Mar 15

Holiday

 

 

 

F

Mar 17

Holiday

 

 

M

Mar 20

Test #2: Q & A

 

 

 

 

W

Mar 22

Test #2: Q & A

 

 

 

F

Mar 24

Test #2: Q & A

 

 

 

M

Mar 27

Calculus of Variations

Slides #23

23: Calc of Var

 

Cost3

Cost_Chain

HW #9

W

Mar 29

The Ricatti Equation

Slides #24

24: Ricatti Eq

 

 

F

Mar 31

Optimal Control (LQG)

Slides #25

25: LQG

 

Heat

M

Apr 3

LQG Control with Multiple Inputs

Slides #26

26: LQG MI

 

Cart

CartDisplay

CartDynamics

HW #10

W

Apr 5

LQG Control with Servo-Compensators

Slides #27

27: LQG & Servo

 

Heat

F

Apr 7

Holiday

 

 

 

M

Apr 10

Holiday

 

 

Gantry

GantryB

GantryDisplay

GantryDynamics

Heat

HW #11

W

Apr 12

LQG with MIMO Servo-Compensators

Slides #28

28: MIMO LQG

 

Heat

F

Apr 14

LQG Observers

Slides #29

29: LQG Observers

 

 

M

Apr 17

Kalman Filters

Kalman Filter Example

Slides #30

30: Kalman Filters

 

 

HW #12

W

Apr 19

LQG/LTR Control

Slides #31

31: LQG/LTR

 

Cart

Cart Dynamics

Cart Display

F

Apr 21

LQG/LTR with Servo-Compensators

Slides #32

32: LQG/LTR Servo

 

Cart

Same dynamics and display as lecture #31

M

Apr 24

VSS and Saturating Control

Slides #34

34: VSS

 

 

 

W

Apr 26

Pink Noise and Noise Cancellation

Slides #33

Review

33: Pink Noise

 

Gantry

GantryB

GantryDisplay

GantryDynamics

F

Apr 28

Test #3

 

 

 

M

May 1

Q & A (Test #3)

 

 

Cart2

Cart2Dynamics

Cart2Display

 

W

May 3

Q & A: Test #3

 

 

 

F

May 5

Q & A: Test #3