James W. Kamman, Ph.D.
Associate Professor Emeritus
Mechanical & Aerospace Engineering
Western Michigan University
Home Up Course Notes Homework Experiments Hydraulic Trainers MATLAB

ME 4710 Motion and Control: Selected Course Notes

Below are links to some selected course notes.  Each is in PDF format that you can read and print using Adobe Acrobat Reader.  To download a free copy of Acrobat reader, click on the "get Adobe Acrobat Reader" link below.

The notes on hydraulic systems contained in the links below were developed with the assistance of Alexander Meissner (ME, 2004) and David Retherford (ME, 2004)

einstein.jpg (38442 bytes)                

Introduction

  1. Introduction to Motion Control

Introduction to Hydraulic Actuation Systems

  1. Hydraulic Actuation System Components

  2. Hydraulic Symbols

  3. Simple Hydraulic Circuits

  4. Pressure Data Acquisition Software

  5. Hydraulic Positioning System I

  6. Hydraulic Positioning System II

Electro-mechanical Actuation

  1. Armature Controlled DC Motor Transfer Functions

Root Locus Analysis

  1. What is a Root Locus Diagram?

  2. Using MATLAB for Root Locus Analysis

  3. PID Control of a Spring-Mass-Damper Position: Root Locus

  4. PID Control of a Hydraulic Actuator: Root Locus

Frequency Domain Analysis with Bode Diagrams

  1. Frequency Domain Analysis

  2. Bode Diagram of a 2nd Order System

  3. SMD Position Control: Analysis Summary (including Bode diagrams)

Compensator Design

  1. Introduction to Compensator Design

  2. Characteristics of Phase-Lead and Phase-Lag Compensators

  3. Phase Lead Compensator Design

  4. Frequency Response Design of a Phase Lead Compensator

  5. Root Locus Design of a Phase Lead Compensator

  6. Phase Lag Compensator Design

  7. Frequency Response Design of a Phase Lag Compensator

  8. Root Locus Design of a Phase Lag Compensator

  9. PID Compensators

  10. Using Pre-filters to Obtain ITAE Optimal Response

  11. Integrator Wind-up

  12. PID Root Locus Design with a First Order Noise Filter

Control Effort and Saturation

  1. Control Effort

  2. Saturation, Pre-Filters, Motion Trajectories, and Feedforward

Data Acquisition, System Identification and Simulation

  1. Introduction to System Identification

  2. MATLAB System Identification Toolbox GUI

  3. MATLAB System Identification, Process Model GUI

  4. Data Acquisition Software for Step Excitation 

  5. Hydraulic Positioning System III

  6. M-file for GUI for Plotting and Averaging Open Loop Data

  7. Fig-file for GUI for Plotting and Averaging Open Loop Data

  8. Simulink File for Open Loop Hydraulic Positioning System Simulation

  9. M-file for Plotting Measured and Simulated Open Loop Results

Proportional Closed-Loop Hydraulic Actuator Control

  1. Closed Loop Hydraulic Positioning System

  2. Closed Loop Proportional Control Software for Hydraulic Actuation System

  3. Simulink File for Closed Loop Hydraulic Positioning System Simulation

  4. M-file for Plotting Measured and Simulated Closed Loop Results

Digital Control of Continuous Systems

  1. Introduction to Digital Control of Continuous Systems

  2. Sampled Data

  3. Z Transforms and the Zero-Order-Hold

  4. Continuous and Equivalent Discrete Transfer Functions

  5. Example: Phase Lead Control of a Spring-Mass-Damper

  6. Weighted Sled System

  7. Example: Phase Lead Control of a Weighted Sled System

  8. Closed Loop Phase-Lead Control Software for Weighted Sled System

  9. Discrete Root Locus Analysis of a Weighted Sled System

Differential Equations and Difference Equations

  1. Difference Equations and Approximate Solutions to Differential Equations

        M-file: Linear, First-Order ODE with Step Input

        M-file: Linear, First-Order ODE with More Complex Input

        M-file: Non-linear, Second-Order ODE for Pendulum Motion