CMPE241 (Fall 2017)

CMPE 241 - Introduction To Feedback Control Systems

Course Description

  Graduate-level 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 specifica- tions. Root locus and frequency response design techniques. Extensive use of Matlab for computer-aided controller design. Course has concurrent lectures with Electrical Engineering 154. Enrollment restricted to graduate students.


Solid background in differential equations, difference equations, signal processing, frequency domain, and physics.


• Homework will account for 25% of final grade. Schedule: ≈ one HW every week.

• Quizz, will account for 20% of final grade. Schedule: announced at the end of the previous lecture.

• Midterm, 25% of final grade. Schedule: Thursday 10/26, 3:20pm in usual lecture room.

• Final, 30% of final grade. Schedule: Thursday 12/14, 12:00-3:00 pm.

For final letter grade assignment, the instructor will follow the usual breakdown; see, e.g., http://instructorlink.

Homework Policy

Due dates will be posted on the course website. No late homework submissions are allowed. Please check how to submit your homework via Canvas way before the deadline to avoid technical problems with your submission. Collaborations are encouraged and feel free to consult anyone, particularly me (via office hours) and those in your team. However, all solutions handed in for credit must reflect your own understanding of the material. If you do collaborate or receive help from anyone, you must credit them by placing their name(s) at the top of your paper!!!


Feedback Control of Dynamic Systems, 7th Edition by Gene F. Franklin, J. Da Powell, Abbas Emami-Naeini education/program/Franklin- Feedback- Control- of- Dynamic- Systems- 7th- Edition/PGM168396.html

which will be used as the main reference, but at the same time, it will go into depth on some topics from the following two books:

Linear System Theory and Design by Chi-Tsong Chen system- theory- and- design- 9780199959570?cc=us&lang=en&

Linear Systems by Antsaklis, P., Michel, Anthony N.


We will be using Matlab. Pretty much any version of Matlab would suffice. The computer labs at SOE have Matlab installed that you can use. To get personal copies, Student versions of Matlab are available at

The “unbundled” version would suffice for CMPE241. The “suite” version includes toolboxes that might become useful throughout your robotics career.


In-class (announced a lecture in advance) quizzes, a midterm, and a final exam will be given. The date of the midterm is 10/26 in class, 3:20-4:55pm. The date of the final is Thursday 12/14, 12:00-3:00 pm. These dates are set and will not move.

Special Accommodations

UC Santa Cruz is committed to creating an academic environment that supports its diverse student body. If you are a student with a disability who requires accommodations to achieve equal access in this course, please submit your Accommodation Authorization Letter from the Disability Resource Center (DRC) to me privately during my office hours or by appointment, preferably within the first two weeks of the quarter. At this time, I would also like us to discuss ways we can ensure your full participation in the course. I encourage all students who may benefit from learning more about DRC services to contact DRC by phone at 831-459-2089, or by email at

Incompletes will be given only for medical and family emergencies. In this event, you must request an incomplete from the instructor before the last day of instruction of the quarter.

Academic Integrity

All course work should be your own work, unless otherwise explicitly required. You may consult with the instructor, the TAs, the graders, and other students, verbally and possibly with the use of a board. It will be necessary to spend some time thinking about a problem before consulting anyone. You must cite any materials (besides the text and course handouts) that you use to solve the problems. Depending on the source you may not receive full credit for the problem. I take cheating very seriously and follow the academic misconduct policy at https: // Any cases will be reported to your college Provost and the School of Engineering and

• the assignment/quiz/exam/final involved will receive a 0 grade, and

• your total score for the class will be reduced by 10% and your grade will be based on this reduced score.

Additional Useful Information

• Email will be the preferred way to communicate. Please check your email frequently for announcements. A response from the instructor within 24hs on weekdays when the subject of your email starts with “[CMPE241]” is guaranteed, e.g.,

Subject: [CMPE241] Question about HW1 problem 1

• Everybody is encouraged to post questions about the lecture, homework, labs at the our discussion board (information upcoming).

• There will be no make-ups for any exam. If you are unable to take a scheduled exam due to health reasons, you must notify the instructor prior to the beginning of the exam. If you will be absent to an exam due to a death (or life-threatening illness) in your family, similar advance notification and subsequent documentation will be required. Students absent from an exam for one of the above reasons will be assigned a grade reflecting performance on homework and previous/future exams. Students missing exams under conditions not discussed above will normally be awarded a zero.

• Exams are closed notes and books.

• Use of cellphones, laptops, tablets and the like is not permitted in class.

• The instructor holds the copyright for lectures and course materials, and these materials are made available for personal use by students. Students may not distribute or reproduce the materials for commercial purposes without the instructor’s express written consent.