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)

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 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 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 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)

Please print out this problem set and record your answers on the printed copy. Answers to this problem set are to be turned in at the box outside by 4: 10 Wednesday, October 8. Problem sets will not be accepted late Solutions will be posted on the web

Please print out this problem set and record your answers on the printed copy. answers to this problem set are to be turned in at the box outside by 4: 10 Wednesday, November 26. Problem sets will not be accepted late Solutions will be posted on the web November 27

7.012: Introductory Biology-Fall 2004 Instructors: Professor Eric Lander, Professor Robert A. Weinberg, Dr. Claudette Gardel Big Idea 1: Biology is based on observational and experimental science. 1. We think what we think because we can draw conclusions from the results of controlled experiments. 2. An informative experiment is designed to distinguish between hypotheses

Notes LECTURE Biochemistry 9.17.04 ATP is both a unit of energy currency in a cell and a building block of RNA. Why? It is believed that early in evolution there were very few molecules around. Many key pathways are ancient, and trace their origin to the early stages of evolution of life on Earth. Incidentally, such pathways are usually highly conserved in modern organisms. This is probably because once

Bob, a student taking 7.012, looks at a long-standing puddle outside his dorm window Curious as to what was growing in the cloudy water, he takes a sample to his TA, Brad Student. He wanted to know whether the organisms in the sample were prokaryotic or eukaryotic