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2.004: overview2.004: tools2.004: what’s nextLecture 39 – Wednesday, Dec. 122.004 Fall ’07 2.004: overview• Modeling of systems– Mechanical– Electrical– Electro-mechanical• In addition: fluidic, thermal, acoustic, pneumatic, biological, chemical, optical, …• Control of systems– Feedback control of transients (speed, overshoot, steady-state error)– Frequency response (resonance, filters)Lecture 39 – Wednesday, Dec. 122.004 Fall ’07 2.004: tools• Laplace transform• Linear time-invariant systems / transfer functions• Root Locus technique for pole placement • Compensators: PI, PD, PID, Lead, Lag, Lead-Lag• State space• Frequency response / Bode plotsLecture 39 – Wednesday, Dec. 122.004 Fall ’07 2.004: what’s next• Elective classes– 2.12 Introduction to Robotics [Asada]– 2.14 Analysis and design of feedback control systems [Slotine]– 2.167 Hands-on marine robotics [Hover]– 2.71 Optics [Barbastathis]• Research involving controls and feedback systems– Robotics (Asada, Dubowsky, Hover, Leonard, Slotine, Youcef-Toumi)– Instrumentation (Barbastathis, Hunter, So)– Neural engineering (Hogan, Slotine)– Bioengineering (Gossard, Kamm, Lang, So)– Micro & nanoscale engineering (Barbastathis, Culpepper, Kim)– Precision engineering (Culpepper, Slocum,


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MIT 2 004 - Lecture Slides

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