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Pre-requisite:
Thorough understanding of materials in ME 5281 or
equivalent; instructor's consent
Instructor
Prof. Perry
Y. Li
MechE 309 or at CCEFP @ 1701 Univ Ave, Rm 115
Phone: 612- 626-7815 / 624-4992
Email: pli@me.umn.edu
Office Hours: Friday 9-10 (MechE)
Teaching
Assistant – None assigned
Class Times: Monday and Wednesday 12:20-2:10
Room: Amundson 124
Office Hour: Friday 9:00-10:00 (CCEFP), after class or by appointment.
Overview
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.
About 2/3 of the course will deal mainly with linear systems (or linearized systems), and the rest of the class will be
concerned with some nonlinear systems.
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
- Homeworks:
60%
- Final: 40%
Textbooks
- 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 are:
- 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.
- Doyle, Francis, Tannenbaum, "Feedback control theory",
McMillan, 1992.
- Good introduction to
robust control ideas and loop shaping. (Out of print but available for
download)
- Franklin, Powell, Emami-Naeini, "Feedback control of dynamic
systems", Addison-Wesley, 3rd edition+, 1994.
- Excellent
undergraduate text.
- Ogata, "Modern
Control Engeineering", Prentice Hall,
1994.
- Undergraduate
control text with lots of worked examples.
- Khalil,
"Nonlinear Systems", Prentice-Hall, 2nd+ Ed. 1996.
- Fairly comprehensive
on nonlinear systems analysis, and some control design ideas.
- Slotine,
Li, "Applied Nonlinear Control", Prentice Hall. 1991.
- Introductory book
(i.e. readable) on nonlinear control.
- Anderson, Moore,
"Optimal Control - Linear Quadratic Method", Prentice-Hall,
1989. [May be out-of-print].
- Excellent text on
Linear Quadratic Control.
- Desoer
and Callier, "Linear Systems
Theory", Springer-Verlag, 1991.
- Linear systems text
using geometric ideas.
Topics to be
Covered (tentative)
- Review of states space
modeling, linearization of nonlinear sytsems
- Response of linear
systems
- Controllability and observability - concepts and tests
- Balanced realization /
model reduction
- State feedback and
observer output feedback
- Robustness and
performance tradeoff (Loop shaping design)
- Linear Quadratic
Regulator (LQR)
- Deterministic Kalman filter and LQG
- Trajectory tracking
control
- Input Shaping
- Internal model control
and repetitive control
- Introduction to Lyapunov stability theory
- Feedback linearization
- Sliding mode control
- Parameter estimation -
introduction to system identification
- Lyapunov
based adaptive control
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