University of California, Santa Barbara
Department of Electrical and Computer Engineering

Advanced Control Design Lab

ECE 238 - Fall 2011

Handouts (including Labs and other HW)

Date		Day and Itinerary				Assignment(s)	Due Dates and Solutions	Other Material
Sep.22		1.		Course overview Discrete Transfer Fn (DTF) / filters		-		Syllabus Notes Day 1
Sep.27		2.		Lab 1 out. System ID; swept sine freq. resp.		Lab 1 (due Oct.7)		-
Sep.29		3.		Nonlinear (4th-order) dynamics State space and linearization		-
Oct.4		4.		Partial Feedback Linearization (PFL) and Zero Dynamics (ZD)		-		Spong94.pdf, Spong97.pdf
Oct.6		5.		HW 2 out. PFL and ZD, cont.: Acrobot and (linear) two-mass systems		HW 2 (due Oct.14)		PFL_Notes_F11.pdf, acrobot_animate.m, acrobot_collocated_linearization.m
Oct.11		6.		Observer design - Intro to Kalman filters		-
Oct.13		7.		Gaussian PDF; Bayes' Thm; Kalman filtering
Oct.17		8.		Augmented model: state estimation of unmeasured encoder offset		-
Oct.21		9.		Bouncing ball dynamics
Oct.25		10.		Internal Model Control (IMC)		-
Oct.27		11.		Internal Model Control (IMC)		HW 3 (due Nov.4)

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Last Updated: Oct.27, 2010