2.004 Dynamics and Control II
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Prereq: Physics II (GIR) and 2.003
Units: 4-2-6
Modeling, analysis, and control of dynamic systems. System modeling: lumped parameter models of mechanical, electrical, and electromechanical systems; interconnection laws; actuators and sensors. Linear systems theory: linear algebra; Laplace transform; transfer functions, time response and frequency response, poles and zeros; block diagrams; solutions via analytical and numerical techniques; stability. Introduction to feedback control: closed-loop response; PID compensation; steady-state characteristics, root-locus design concepts, frequency-domain design concepts. Laboratory experiments and control design projects. Enrollment may be limited due to laboratory capacity; preference to Course 2 majors and minors.
Upon successful completion of this course, students will be able to:
- Create lumped parameter models (expressed as ODEs) of simple dynamic systems in the electrical and mechanical energy domains
- Make quantitative estimates of model parameters from experimental measurements
- Obtain the time-domain response of linear systems to initial conditions and/or common forcing functions (specifically; impulse, step and ramp input) by both analytical and computational methods
- Obtain the frequency-domain response of linear systems to sinusoidal inputs
- Linearization about equilibrium
- Sensors and actuators
- Control of mechanical systems
- Compensate the transient response of dynamic systems using feedback techniques
- Proportional, integral and derivative action, lead and lag compensators
- Root-locus design methods
- Frequency-domain design methods
- State-space design methods
- Design, implement and test various control systems to achieve desired performance measures