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 Website and original documents Copyright © 2007–2009 by Theodore P. Pavlic CC-BY-NC 3.0 License |
 
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| IMPORTANT: | This web page provides additional support for particular lab sections of ECE 758. For information about general course content, see the instructor’s course web page. |
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Lecture (all sections): T 12:30N–2:18PM, 808 Dreese Laboratories (Professor Kevin M. Passino) Tuesday lab section (10675-3): T 8:30AM–12:18N, 808 Dreese Laboratories (Ted Pavlic) Thursday lab section (22207-5): R 8:30AM–12:18N, 808 Dreese Laboratories (Ted Pavlic)
See instructor’s course web page for instructor and course information.
Lecturer/Course Instructor: Kevin M. Passino, 416 Dreese Laboratory, passino@ece.osu.eduSee instructor’s course web page for instructor and general course information.Section Grader/Lab Instructor: Ted Pavlic, 351 Caldwell Laboratory, pavlic.3@osu.edu
Office Hours: E-mail me for an appointment.Section Syllabus: PDFTo make sure I get your e-mail, begin the subject with ECE758: or at least put 758 somewhere in the subject. An automatic filter will make sure your mail gets to me ASAP (rather than being marked as spam).
None required to purchase. Necessary documents will be distributed on instructor’s course web page and in class. Students are encouraged to print out these documents before class. Auxiliary information may be posted on this web page.Schedule:
NOTE: This quarter (Spring 2009), due to scheduling constraints, the order of labs 5 and 6 is swapped.
Week Lab Date (T or R) Topic 1 Mar 31 or Apr 2 Lab 1: Lab Overview, Overview of Plants/Challenges, Tutorial on dSPACE/Simulink 2 Apr 7 or Apr 9 Lab 2: Modeling and System Identification of a Thermal Process 3 Apr 14 or Apr 16 Lab 3: PID Control with Derivative Filtering and Integral Antiwindup for a DC Servo 4 Apr 21 or Apr 23 Lab 4: Linear Quadratic Regulator (LQR) and Observer Design for a Flexible Joint 6 Apr 28 or Apr 30 Lab 6: Distributed Dynamic Resource Allocation Strategies for Multizone Temperature Control 5 May 5 or May 7 Lab 5: Nonlinear Control for a Flexible Joint 7–10 — Student projects (open lab to students; keycard access provided) F June 11 Last day to give oral presentation of student project
Contents |
SOURCE CODE: I use LaTeX to generate the digital documents that I use for this class. I also export a public slice of my source control (i.e., docs but no tests) to the web so that you can view the source directly. Check out http://hg.tedpavlic.com/ece758/ to see the source "code" for the lab resources.
LICENSING AND REUSE: Unless otherwise expressly stated, all original material of whatever nature created by Theodore P. Pavlic and included in this website and any related pages, including its archives, is protected by copyright and licensed under a Creative Commons Attribution-Noncommercial 3.0 United States License ("CCPL"). Use of this website is expressly conditioned upon the user’s acceptance of the terms and provisions of the CCPL. Use of this site and any of the materials thereon constitutes acceptance of the CCPL by the user. Students enrolled in ECE 758 may reuse or modify portions of the materials without attributing the content to its original author so long as it is being used to generate a submission to the original author (e.g., the use of a schematic on a lab report to be submitted to T. Pavlic); otherwise, this web page URL, the URL of the source document, or the author’s name can be cited as the source of the work.
LAB BENCHES: The banner posted at each table describing how to use the station and the DIO Pinout for the Quanser DS1104 interface board are provided here.
People who use this method like to do a lot of copying. There is no need to copy the whole file structure into v if you don’t want to. Additionally, those getfield calls are not necessary because Data is a simple field name. So an alternative is:load filename; % Loads file structure into filename v = filename; % Copies filename structure to v t = getfield(v.X(1), 'Data'); % Copies X time vector into t y1 = getfield(v.Y(1), 'Data'); % Copies Y(1) vector into y1 y2 = getfield(v.Y(2), 'Data'); % Copies Y(2) vector into y2 mean( y1( find( t >= 4 ) ) ) % Average of Y(1) for time after 4 s mean( y1( t >= 4 ) ) % Equivalent averaging statement
In fact, we can get rid of all copying and a few lines.load filename; % Loads file into filename t = filename.X(1).Data; % Copies X time vector into t y1 = filename.Y(1).Data; % Copies Y(1) vector into y1 y2 = filename.Y(2).Data; % Copies Y(2) vector into y2 mean( y1( t >= 4 ) ) % Average of Y(1) for time after 4 s
load filename; % Loads up filename mean( filename.Y(1).Data( filename.X(1).Data >= 4 ) ) % A mean shortcut
A = [ 0, 0, 1, 0;
0, 0, 0, 1;
0, Kstiff/J_hub, -Km^2*Kg^2/(Rm*J_hub), 0;
0, -Kstiff*(J_load+J_hub)/(J_hub*J_load), Km^2*Kg^2/(Rm*J_hub), 0 ];
B = [ 0; 0; Km*Kg/(Rm*J_hub); -Km*Kg/(Rm*J_hub) ];
Then, if you do a
then you should get the same numerical A and B matrices as shown in the document.format short e; A, B
[ Students are strongly encouraged (but not required) to use TeX (in particular, LaTeX) for their assignment submissions. ]
For myriad reasons, professional technical documents are rarely produced with popular programs like Microsoft Word. In areas that are highly influenced by mathematics (e.g., engineering), the free TeX typesetting system dominates. Many TeX (pronounced "tech") users prefer the LaTeX suite of macros to simplify common typesetting tasks.
TeX documents, like the source code for computer programs, start as text files that are later "compiled" into their final document form. A typical TeX workflow is
- Edit document source code in a standard or specialized text editor. For example, a text file called "mydocument.tex" could contain the LaTeX code:
\documentclass{article} \begin{document} \textbf{Hello world!} \end{document}- "Compile" source code to produce printable document. The "mydocument.tex" file would produce a "mydocument.pdf" that would contain the bold text:
Hello world!A good editor will typically provide a quick way (e.g., a "LaTeX" button on the graphical user interface) to compile your code.
If you want to compile your code manually, you can use PDFLaTeX with the commandpdflatex mydocument.texor you can use LaTeX with the commandslatex mydocument.texThe difference between these two methods has an impact on what type of figures you can include (i.e., EPS files versus PDF, GIF, JPG, or PNG files). See below for details.
dvips mydocument.dvi
ps2pdf mydocument.ps
- View printable document and repeat process to make changes (e.g., you could change the \textbf{Hello world!} line to be simply Hello world! to get rid of the bold).
Thus, many people feel that TeX typesetting is more like programming than it is like using standard word processing tools. So it’s not surprising that you’ll need a "compiler", editor, and viewer (note: the ECE computer labs are already equipped with everything you need to get started).
\usepackage{caption}
\usepackage{graphicx}
Then, in the main part of your document, you can
choose whether to include your graphics as
"floats" or not. Most figures in books are
"floats." That is, they do not appear exactly where they are
mentioned in the text. Instead, they "float" to a convenient
place (e.g., the top of the next page). In lab reports, people
sometimes prefer that their graphics do not float.
\begin{figure}
\includegraphics[width=0.5\columnwidth]{my_graphics_file.png}
\caption{A nice caption for my figure.}
\label{fig:a_unique_fig_label}
\end{figure}
Alternatively, if you want the figure to be
typeset EXACTLY where you place it within your source code, use
lines like
\begin{center}
\includegraphics[width=0.5\columnwidth]{my_graphics_file.png}
\captionof{figure}{A nice caption for my figure.}
\label{fig:a_unique_fig_label}
\end{center}
That is, replace the figure
environment with a center environment and
replace the \caption line with a
\captionof{figure} line.I am happy to assist students by e-mail. However, all e-mails to me must have "758" (without the quotes) in their subject. This step lets the e-mail to be filtered on delivery into a safe folder where it will be read ASAP by me. Otherwise, I cannot guarantee that the e-mail will not treated as spam.
I prefer that the subject starts with "ECE758: " (without the quotes).
If the provided office hours do not work for you, please e-mail me to setup an appointment. Alternatively, you can stop by my office. I’m usually in the office, and I usually can spare a few minutes to help.
Pre-lab and post-lab assignments should be completed INDIVIDUALLY by EACH STUDENT. These assignments are NOT group assignments.
- Pre-lab assignments: At the beginning of each lab, answers to questions from the corresponding pre-laboratory assignment (posted on the instructor’s course web page) should be submitted for a grade.
- Most of the theoretical work for each laboratory experience is completed in the pre-laboratory assignment, and so you should keep a copy of your results to assist you in class.
- Post-lab assignments: Post-lab assignments (posted as part of the lab procedures on the instructor’s course web page) are due at the beginning of the next lab session.
Assignments will be penalized 10% per day late.
On your assignment, include:
- your name
- the assignment name (e.g., "Lab 1 Pre-lab" or "Lab 2 Post-lab")
- the class identifier (i.e., "ECE 758")
- the section day and time (e.g., "Thursday 8:30")
- the section’s instructor name (e.g., "Grader: Ted Pavlic")
- your bench number from label on each table (i.e., 1, 2, 3, 4, or 5)
See the lab writing resources and the help getting started using TeX/LaTeX for help digitally composing your assignments. Students are encouraged (but not required) to use TeX (in particular, LaTeX) for assignment submissions.
After the sixth week, each student will have open access to the laboratory to complete his or her class project (an interesting and modern control system implementation) before the end of the quarter. At the completion of the project, the student will complete an oral presentation of the control system to the instructor and the TA.
There is no separate final exam for the course.
The quarter project should be completed individually. Hence, during the quarter all students should become familiar with both the software and hardware used in the lab.
The percentage contribution of each assignment to the final grade is as follows.Grades will be made available on Carmen ASAP.
Lab 1 (Overview): 10% from post-lab submission Lab 2 (Modeling and System ID): 10% split 40:60 between pre- and post-lab submissions Lab 3 (PID Control): 10% split 50:50 between pre- and post-lab submissions Lab 4 (Linear Quadratic Regulator (LQR) and Observer): 10% split 50:50 between pre- and post-lab submissions Lab 5 (Nonlinear Control): 10% split 75:25 between pre- and post-lab submissions Lab 6 (Distributed Resource Allocation): 10% split 50:50 between pre- and post-lab submissions Lab project: 40% from oral presentation
You are responsible for all course materials. I can try to help you make-up work from an absence, but I will need to know about the absence as soon as possible (preferably well before the class).
I will not accept late assignments without penalty unless prior arrangements (at least 24 hours in advance) have been made.
In the event that some of the in-class work in this lab requires more time, I will try to make arrangements to be available to open the lab for make-up work. However, I do not plan on doing this often, so students should try to finish the experiments during normal class time.
Although students may work together outside of class on assignments, all handed-in material must be unique. That is, each individual student should actually compose his or her assignment submissions separately. Assignment submissions should reflect individual work and not any sort of collaboration.
Any written material turned in to me falls under the purview of the University and the ECE Honor System rules. If an assignment submission does not represent an individual’s understanding of the material, I will consider it to be an honor code violation. In these cases, I must report the incident to the ECE department.
Students with disabilities that have been certified by the Office for Disability Services will be appropriately accommodated and should inform the instructor as soon as possible of their needs.The Office for Disability Services
150 Pomerene Hall
1760 Neil Avenue
Telephone: 614-292-3307, TDD: 614-292-0901
http://www.ods.osu.edu/
Course supervisor: Professor Kevin M. PassinoCatalog Description:
Laboratory study of advanced feedback control techniques as applied to nonlinear and multi-output systems under computer or microprocessor control.
Course Prerequisites or Concurring: 557 or 755 or grad standing
Courses that require 758 as prerequisite: none
Prerequisites by Topic:
Control system design by classical and modern techniques.Course Objectives:
- Utilization of real-time code for digital control (Criteria 3(a),(b),(k)).
- Introduction of advanced feedback control techniques as applies to nonlinear and multi-output systems under computer or microprocessor control (Criteria 3(a),(e)).
- Implementation of design with accompanying analysis (Criteria 3(a),(c),(e),(k)).
- Promote (interdisciplinary) team efforts via working with lab partner(s) (Criteria 3(d),(g)).
- Improve written communication skills through laboratory and project reports (Criterion 3(g)).
Class Meeting Pattern
- 1 2-hour class
- 1 4-hour lab
Other good control labs: ECE 757
Other good communications and signal processing (comm/SP) labs: ECE 508, ECE 609
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Website and original documents Copyright © 2007–2009 by Theodore P. Pavlic CC-BY-NC 3.0 License |
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