Thorough understanding of materials
in ME 5281 or equivalent; instructor's consent
Perry Y. Li
Phone: 612- 626-7815
Office Hours: and by
Class Times: Monday and Wednesday
Office hours: TBA (tentative F 1:00-2:00),
after class, or make an appointment
Keller Hall 3-125
This is a first graduate level course on control
systems with an emphasis on controller design.
Pre-requisite 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.
- Homeworks: 50%
- Project: 20%
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:
and Ljung, ``Control
Theory - Multivariable and nonlinear methods" Taylor
and Francis, 2000.
Desoer and Callier, "Linear Systems
- Fairly comprehensive,
useful reference, but may approach the theory in a
different way as in class.
and Moore, "Optimal Control - Linear Quadratic
Method", Prentice-Hall, 1989. [May be out-of-print].
- Linear systems text
using geometric ideas.
Francis and Tannenbaum,
"Feedback control theory", McMillan, 1992.
text on Linear Quadratic Control.
Powell and Emami-Naeini,
"Feedback control of dynamic systems", Addison-Wesley,
6th edition, 2009.
introduction to robust control ideas and loop
shaping. (Out of print but available for download)
"Modern Control Engineering",
Prentice Hall, 1994.
Khalil, "Nonlinear Systems",
Prentice-Hall, 2nd+ Ed. 1996.
control text with lots of worked examples.
Slotine and Li, "Applied
Nonlinear Control", Prentice Hall. 1991.
comprehensive on nonlinear systems analysis, and
some control design ideas.
book (i.e. readable) on nonlinear control.
Topics to be Covered
of states space modeling, linearization of nonlinear systems
of linear systems
and observability -
concepts and tests
- Balanced realization /
to robustness and performance tradeoff
- State feedback and
observer output feedback
feedback and Q-Parameterization
Quadratic Regulator (LQR)
Kalman filter and LQG/LTR
- Internal model control
and repetitive control
- Lyapunov stability
on nonlinear control