Handout 2: Gain and Phase margins Eric Feron Feb6,2004 Nyquist plots and Cauchy's principle Let H(s) be a transfer function. eg H(s)= s2+s+1 (s+1)(s+3) Evaluate H on a contour in the s-plane. (your plots here)

Handout 4: Root-Locus Review Eric Feron Feb17,2004 Summary of Guidelines for plotting a root-locus 1. Mark Poles X and Zeros O 2. Draw the locus on the real axis to the left of an odd number of real poles plus zeros

Handout 12: Plants with right half-plane zeros Eric Feron March 15, 2004 The worst of all (but they exist)! Example: The Star Market vs. Home Depot dilemma Star Market cart: Casters mounted under cart front. used to steer cart rear deviation y from reference lane

Handout 7: Lag and PI compensation Eric Feron Lag Compensation goals: Raise gain at low frequencies while leaving rossover &z higher frequencies untouched b≥0. When b=0: Add an integrator in the loop Typical lag Bode Plot

Handout 6: Proportional Compensation Eric Feron Feb25,2004 Plant under study: 1/10 G(s)=(s+1)(s/10+1)2 Compensation Scheme: We adjust the gain K in the feedback loop (draw the feedback loop below)

Have dealt, thus far, with perfect columns, loading eccentricities, and beam-columns. There are, however, many more issues in buckling/(static) structural instability, most of which will try to touch on a) Buckling versus Fracture Have looked at columns that are long enough such that they buckle

Earlier looked at Simple Beam Theory in which one considers a beam in the x-z plane with the beam along the x-direction and the load in the z-direction Figure 14.1 Representation of Simple Beam Now look at a more general case Loading can be in any direction

We have thus far looked at In-plane loads torsional loads In addition, structures can carry loads by bending. The 2-D case is a plate, the simple 1-d case is a beam. Let's first review what you learned in Unified as Simple Beam Theory

IG Aln Happy New Year 2004 UHF ndio REM telecom HW \ Front SSPA Mars Rovers mEr-a \ Spirit landed Sat 1/3 11 35pm ET Body structure (Warm Electronics BoxWeb).Refhttp://marsrovers.jplnasagov (imAgeistakenfromNasa'SWebsitehttp://www.nasa.gov.) We won' t be designing a mars rover this iap, but You will learn about the design process and fundamenta

This 90 minutes lecture to be delivered via telelink addresses a class of mit undergraduates unrolled in Engineering Design and Rapid prototyping Course. The students have been introduced to the basic optimization concepts of design variables design space, objective function, constraints and numerical search methods. Building on this elementary basis, the purpose of the lecture is to make the students aware of a reaud range of theoretical and practical issues that arise when optimization is applied in real-life engineering. To that end a gamut of topics is presented with emphasis on the qualitative exposition rather than in-depth mathematics. The topics include