Classes
Instructor 
Jacob Rosen 
Course Summary: Methods of solving ordinary differential equations in engineering. Review of matrix algebra. Solutions of systems of first and secondorder ordinary differential equations. Introduction to Laplace transforms and their application to ordinary differential equations. Introduction to boundary value problems. Nonlinear differential equations and stability. 

Course Summary: Motion planning and control of articulated dynamic systems: nonlinear joint control, experiments in joint control and multiaxis coordination, multibody dynamics, trajectory planning, motion optimization, dynamic performance and manipulator design, kinematic redundancies, motion planning of manipulators in space, obstacle avoidance. 

UCSC EE 154 CMPE 241 EE 241 CMPE 141 
Introduction to Feedback Control Systems Course Summary: Undergraduatelevel (EE154) & graduatelevel (CE 241) introduction to control of continuous linear systems using classical feedback techniques. Design of feedback controllers for commandfollowing 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. 
UCSC CMPE 9 
Introduction to Statics Dynamics & Biomechanics 
UCSC CMPE 215 
Models of Robotic Manipulation 