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STEVEN HALL: The first
problem is right here.

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I'm going to give you
a chance to practice

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doing a proportional
derivative controller.

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And I've actually written
the specifications directly

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in terms of phase margin
and crossover frequency.

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So you can either
imagine that that's

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the way the
specifications are given

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or that we started with a
rise time and peak overshoot

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and derived these.

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So your goal is to
design a k of s that

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meets these specifications.

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So if everyone could please,
form up in groups of two

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around the room as usual.

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I'm Steve Hall,
I'm the instructor

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of 1606, which is Principles
of Automatic Control.

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It's a junior level
classical control

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class, which I've been
teaching for about six years.

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So recitations in 1606 are
a little different than most

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recitations at MIT.

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In most recitations,
the instructor

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would present a series
of problems maybe related

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to the homework, just
to give examples of how

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the problem should be worked.

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Sometimes they might have
students try some themselves.

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In my recitations,
it's much more active.

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Students are always standing
up, we work at the board,

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usually in groups of two.

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So there might be
10 groups of two

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spread around the
room, each group of two

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working at a board.

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A blackboard, a whiteboard,
could be a poster board.

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They're working
problems and the TA

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and I are walking around
and helping when we can,

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answering questions
when students

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have them, and
generally just coaching,

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trying to help the students
understand what they're doing

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and solve the problems.

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It really is a
chance for students

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to understand what they know
and what they don't know

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and to exercise the skills that
they've learned in the class.

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And if they have problems
with those skills,

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it's a chance for me to
help them learn them better.