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ME8281-Advanced Control Systems

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ME8281 Advanced Control System Design (Spring 2016)


Thorough understanding of materials in ME 5281 or equivalent; instructor's consent


    Prof. Perry Y. Li
    MechE 309
    Phone: 612- 626-7815
    Office Hours:  and by appointments.

Class Times:  Monday and Wednesday 1:25am -3:15pm

Office hours: F 1:00-2:00pm,

                    walk-in, meet after class, or make an appointment

Room: Akerman 209


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.

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

  1. 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.
  2. Desoer and Callier, "Linear Systems Theory", Springer-Verlag, 1991.
    • Linear systems text using geometric ideas.
  3. Anderson and Moore, "Optimal Control - Linear Quadratic Method", Prentice-Hall, 1989. [May be out-of-print].
    • Excellent text on Linear Quadratic Control.
  4. 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)
  5. Franklin, Powell and Emami-Naeini, "Feedback control of dynamic systems", Addison-Wesley, 6th edition, 2009.
    • Excellent undergraduate text.
  6. Ogata, "Modern Control Engineering", Prentice Hall, 1994.
    • Undergraduate control text with lots of worked examples.
  7. Khalil, "Nonlinear Systems", Prentice-Hall, 2nd+ Ed. 1996.
    • Fairly comprehensive on nonlinear systems analysis, and some control design ideas.
  8. Slotine and Li, "Applied Nonlinear Control", Prentice Hall. 1991.
    • Introductory book (i.e. readable) on nonlinear control.

Topics to be Covered

  1. Review of states space modeling, linearization of nonlinear sytsems
  2. Response of linear systems
  3. Controllability and observability - concepts and tests
  4. Balanced realization / model reduction
  5. Introduction to Robustness and performance tradeoff
  6. State feedback and observer output feedback
  7. Innovation feedback and Q-Parameterization
  8. Linear Quadratic Regulator (LQR)
  9. Deterministic Kalman filter and LQG/LTR
  10. Trajectory tracking control
  11. Input Shaping
  12. Internal model control and repetitive control
  13. Lyapunov stability concepts
  14. Topic on nonlinear control


Updated: 2/5/2016, Perry Li



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 Last modified on February 17, 2006