

Prerequisite:
Thorough understanding of materials
in ME 5281 or equivalent; instructor's consent
Instructor
Prof.
Perry Y. Li
MechE 309
Phone: 612 6267815
Email: perryli@umn.edu
Office Hours: and by
appointments.
Class Times: Monday and Wednesday
1:25am 3:15pm
Office hours: F 1:002:00pm,
walkin, meet
after class, or make an appointment
Room:
Akerman 209
Overview
This is a first graduate level course on control
systems with an emphasis on controller design.
Prerequisite materials assumed are generally covered in
an undergraduate level control systems e.g. ME5281 at
UMN, which covers classical SISO control, and an
introduction to states space control concept.
The majority (4/5) of the course will deal with linear
systems (or linearized
systems). The remaining time will introduce some
concepts of nonlinear control design topics.
In class and homework examples will be taken from
various application domains and research projects. We
will rely heavily on MATLAB for analysis, design and
simulations of these systems.
Grading (tentative)
 Homeworks: 50%
 Project: 20%
 Final:
30%
Required Textbook:
Goodwin,
Graebe, Salgado, "Control
System Design", Prentice Hall, 2001.
We will not follow the book strictly,
but will pick topics from the book for at home reading,
examples, homeworks and
discussion etc. Notes, course materials, and papers will
be handed out from time to time.
Other recommended texts for reference:
 Glad
and Ljung, ``Control
Theory  Multivariable and nonlinear methods" Taylor
and Francis, 2000.
 Fairly comprehensive,
useful reference, but may approach the theory in a
different way as in class.
 Desoer and Callier, "Linear Systems
Theory", SpringerVerlag,
1991.
 Linear systems text
using geometric ideas.
 Anderson
and Moore, "Optimal Control  Linear Quadratic
Method", PrenticeHall, 1989. [May be outofprint].
 Excellent
text on Linear Quadratic Control.
 Doyle,
Francis and Tannenbaum,
"Feedback control theory", McMillan, 1992.
 Good
introduction to robust control ideas and loop
shaping. (Out of print but available for download)
 Franklin,
Powell and EmamiNaeini,
"Feedback control of dynamic systems", AddisonWesley,
6th edition, 2009.
 Excellent
undergraduate text.
 Ogata,
"Modern Control Engineering",
Prentice Hall, 1994.
 Undergraduate
control text with lots of worked examples.
 Khalil, "Nonlinear Systems",
PrenticeHall, 2nd+ Ed. 1996.
 Fairly
comprehensive on nonlinear systems analysis, and
some control design ideas.
 Slotine and Li, "Applied
Nonlinear Control", Prentice Hall. 1991.
 Introductory
book (i.e. readable) on nonlinear control.
Topics to be Covered
 Review
of states space modeling, linearization of nonlinear sytsems
 Response
of linear systems
 Controllability
and observability 
concepts and tests
 Balanced realization /
model reduction
 Introduction
to Robustness and performance tradeoff
 State feedback and
observer output feedback
 Innovation
feedback and QParameterization
 Linear
Quadratic Regulator (LQR)
 Deterministic
Kalman filter and LQG/LTR
 Trajectory
tracking control
 Input
Shaping
 Internal model control
and repetitive control
 Lyapunov stability
concepts
 Topic
on nonlinear control
Updated: 2/5/2016, Perry Li
