| 1-3 |
Brief Review of 2.003 |
Uniaxial motion, fixed-axis rotation; first and second order systems; natural and forced response; transfer functions, zeroes, poles; elementary control: open-loop, closed-loop; closing the loop alters the natural and forced response characteristics; stability and instability. |
| 4-5 |
Impulse Response |
Collisions; conservation of momentum; conservation of energy; coefficient of restitution; bouncing ball in the presence of air drag. |
| 6-9 |
Plane-motion Kinematics of Rigid Bodies |
Combined translation and rotation of rigid body; angular velocity; generalized coordinates; common constraints. Kinetic energy of rigid body. |
| 10-15 |
Plane-motion Dynamics of Rigid Bodies |
Linear and angular momentum principles for systems including rigid bodies; derivingequations of motion using momentum principles; conservation of energy; linearization in the neighbourhood of equilibrium, stability and instability; rolling cylinder inside rollinghoop; inverted pendulum on cart. |
| 16-18 |
Vibrations of Two-Degree-of-Freedom Systems |
Natural modes and the eigenvalue problem; free and forced response to harmonic excitation; damping effects; Bode plots. |
| 19-24 |
Control of Systems with Rigid Bodies |
Actuators, sensors; P, D, I feedback-loop strategies; root-locus design; application to inverted pendulum on cart, automatic self-balancing scale; frequency-domain design methods, gain margin, phase margin. |
