Automatic Control II A course in modern control

Course Notes

Examples to Accompany Notes

Webinars

Case Studies

Contact Details

• Topic 1
• Topic 2
• Topic 3
• Topic 4
• Topic 5
• Topic 6
• Topic 7
• Topic 8
• Topic 9
• Topic 10
• Topic 11
• Topic 12
• Topic 13
• Topic 14
• Topic 15
• Topic 16

• Introduction: The webinar for the Introductory slides can be found in 800x600 SWF format or the 800x600 MP4 (5.7MB) video only. A 320x240 M4V iPod format (6.9MB) is also available.
• Topic 1: The webinar for the Topic 1 slides can be found in 800x600 SWF format or the 800x600 MP4 (42.9MB) video only. A 320x240 M4V iPod format (57.8MB) is also available.
• Topic 2: The webinar for the Topic 2 slides can be found in 800x600 SWF format or the 800x600 MP4 (34MB) video only. A 320x240 M4V iPod format (48MB) is also available.
  Errata: Example 2 with gravity spring (page 56), the final differential equation should be m\ddot{y} + b\dot{y} + ky = F + mg (and not -mg). The state input matrix for gravity should be [0; 1] (and not [0; -1]).
  Example 5 on slide 69, equation L = T - V. I have written it wrongly as T + V. In other words, the last term should be -m*g*L*( 1 - cos(theta) ) not +m*g*L*( 1 - cos(theta) ). However it does not affect the rest of the solution as I wrote the correct one in Lagrange's Equations.
• Topic 3: The webinar for the Topic 3 slides can be found in 800x600 SWF format or the 800x600 MP4 (33MB) video only. A 320x240 M4V iPod format (48MB) is also available.
  Errata: The angular momentum of the pendulum in "Example: Linearisation of pendulum dynamics" should have the length term square, ie it should be m*l^2*\dot(theta) and not m*l*\dot(theta).
• Topic 4: The webinar for the Topic 4 slides can be found in 800x600 SWF format or the 800x600 MP4 (39MB) video only. A 320x240 M4V iPod format (53MB) is also available.
  Errata: In the Hydraulic example, slide 126; the state matrix A should be negative (but is written as positive). It has to be negative as the pole must be stable (negative), which then makes it consistent with the previous slide and the block diagram on slide 127.
• Topic 5: The webinar for the Topic 5 slides can be found in 800x600 SWF format or the 800x600 MP4 (61MB) video only. A 320x240 M4V iPod format (78MB) is also available.
  Errata: When drawing the block diagram on slide 160, the gain fedback from the high frequency state should be -sqrt(3k/m) not -sqrt(-3k/m). All gains are supposed to be entirely real in this form!
• Topic 6: The webinar for the Topic 6 slides can be found in 800x600 SWF format or the 800x600 MP4 (39MB) video only. A 320x240 M4V iPod format (45MB) is also available.
  Errata: On page 171, when drawing the final response of the string, the displacement of right hand side of the string is drawn showing it goes down to -0.2 but really it should be 0.2.
• Topic 7: The webinar for the Topic 7 slides can be found in 800x600 SWF format or the 800x600 MP4 (69MB) video only. A 320x240 M4V iPod format (75MB) is also available.
• Topic 8: The webinar for the Topic 8 slides can be found in 800x600 SWF format or the 800x600 MP4 (55MB) video only. A 320x240 M4V iPod format (71MB) is also available.
  Errata: Final example. On page 270 there's some major typos in the 3 simultaneous equations. Please see hand written notes for correct expressions: http://www.mecheng.adelaide.edu.au/~bscazz/Auto_II/Examples/Topic8.pdf
• Topic 9: The webinar for the Topic 9 slides can be found in 800x600 SWF format or the 800x600 MP4 (41MB) video only. A 320x240 M4V iPod format (48MB) is also available.
  Errata: Slide 284 (first slide of example 5). For the DE describing x2 double dot should be +F/m2 instead of -F/m2? When writing it in SS form on the next slides it is correctly written as +1/m2.
• Topic 10: The webinar for the Topic 10 slides can be found in 800x600 SWF format or the 800x600 MP4 (64MB) video only. A 320x240 M4V iPod format (81MB) is also available.
  Please note that the audio quality in the first half of the webinar is very poor. I don't know what happened and apologise. I do plan to rerecord but this won't be for some time.
• Topic 11: The webinar for the Topic 11 slides can be found in 800x600 SWF format or the 800x600 MP4 (64MB) video only. A 320x240 M4V iPod format (81MB) is also available.
• Topic 12: The webinar for the Topic 12 slides can be found in 800x600 SWF format or the 800x600 MP4 (40MB) video only. A 320x240 M4V iPod format (46MB) is also available.
• Topic 13: The webinar for the Topic 13 slides can be found in 800x600 SWF format or the 800x600 MP4 (43MB) video only. A 320x240 M4V iPod format (53MB) is also available.
• Topic 14: The webinar for the Topic 14 slides can be found in 800x600 SWF format or the 800x600 MP4 (25MB) video only. A 320x240 M4V iPod format (30MB) is also available.
• Topic 15: The webinar for the Topic 15 slides can be found in 800x600 SWF format or the 800x600 MP4 (46MB) video only. A 320x240 M4V iPod format (59MB) is also available.
• Topic 16: The webinar for the Topic 11 slides can be found in 800x600 SWF format or the 800x600 MP4 (29MB) video only. A 320x240 M4V iPod format (36MB) is also available.
  Errata: For the question "Consider the plant G(s) = 1/(s+0.25). What would the reference gain N be to achieve command tracking." The answer that is accepted as correct is 4, however the reference gain N is the inverse of the dc gain, meaning that the answer should be 0.25!

• Sliding Mass with Viscous Friction
• Electromagnetic Proof-Mass Actuator
• Three Coupled Masses
• Quanser HiWire Walker
• Control Moment Gyroscope Reaction Wheel