Instructor

Jacob Rosen
Office: Engineering 2 Building, Room 231
Voice Office: 831.459.5302
e-mail: rosen@ucsc.edu

Introduction to Feedback Control Systems

Course Summary: Undergraduate-level (EE154) & graduate-level (CE 241) introduction to control of continuous linear systems using classical feedback techniques. Design of feedback controllers for command-following error, disturbance rejection, stability, and dynamic response specifications. Root locus and frequency response design techniques (Bode). Nyquist stability criterion. Design of dynamic compensators. Examples are drawn from electrical, mechanical, applications. Computer aided design with MATLAB.

Introduction to Statics Dynamics & Biomechanics

Course Summary: Theory and application of mathematical models to analyze statics and dynamics of mechanical and biomechanical systems (particles and rigid bodies) using a vector algebra. Covers: Newton's laws; free-body diagrams; structure analysis; friction; virtual work; energy and momentum methods; dynamics of bodies in two and three dimensions.

Models of Robotic Manipulation

Course Summary: Mathematical models of arbitrary articulated robotic as well as biological arms and their application to realistic arms and tasks, including the homogeneous coordinate model of positioning tasks, the forward and inverse kinematics models, the Jacobian Matrix,and the recursive Newton-Euler dynamic model.