Advanced Control Theory

Course title

V0410700

Click to show questionnaire result at 2018

Course description

It is known that control engineering plays a very important role in real-world applications. This course deals with basic knowledge in control engineering with both classic and modern control (focusing on the latter). We will learn system representation (modeling), transfer function, state solution (various response), frequency based analysis and design, system stability, controllability and observability, state feedback, observer and optimal control, etc.

Purpose of class

Provide fundamental knowledge about classic and modern control, and understand the relation between them. Aim at understanding various analysis and design tools in control engineering, and using MATLAB/Simulink for numerical simulation.

Goals and objectives

Can understand transfer function and state space representation, and obtain various system responses.
Can understand transfer function based analysis and design
Can understand state space representation based analysis and design

Language

English

Class schedule

	Class schedule	HW assignments (Including preparation and review of the class.)	Amount of Time Required
1.	Course introduction and physical system modeling	Review MDK mechanical system, RLC circuit, and Newton's Principle	190minutes
2.	Laplace transform, inverse Laplace transform and Transfer function	Review complex numbers, derivative and integral, Laplace transform	190minutes
3.	Block Diagram	Review transfer function and block-matrix manipulation	190minutes
4.	System state solution	Review Laplace transform, inverse Laplace transform and matrix exponential	190minutes
5.	System stability, Routh criteria	Review limit and convergence, matrix determinant, characteristic equation, etc	190minutes
6.	Steady state response, Bode diagram	Review basic complex analysis, practice MATLAB simulation	190minutes
7.	Exercise/review and mid-term report	Review all from No.1 through No.7	190minutes
8.	State space representation	Review matrix and vector manipulation, differential equations	190minutes
9.	Transition matrix and system state solution	Review transfer function and matrix manipulation (eigenvalue, eigenvector, diagonalization, etc)	190minutes
10.	Lyapunov function based system stability	Review positive definite functions and their derivatives	190minutes
11.	Controllability and observability	Review definition and computation of matrix rank	190minutes
12.	State feedback and pole assignment	Review and preview controllability, stability, etc	190minutes
13.	Optimal control	Review state feedback, and preview cost function	190minutes
14.	Review/exercise and final report	Review all from No.1 through No. 14	190minutes
Total.	-	-	2660minutes

Relationship between 'Goals and Objectives' and 'Course Outcomes'

	Mid-term report	Final report	Total.
1.	20%	10%	30%
2.	20%	10%	30%
3.		40%	40%
Total.	40%	60%	-

Evaluation method and criteria

Mid-term report: 40%
Final report: 60%
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Pass when reaching 60% of the whole evaluation, or in other words, reaching the level of writing state space representation of simple control systems, and then obtaining the system's solution, analyzing system stability, and designing proper state feedback for the control system.

Textbooks and reference materials

Mainly handouts (No textbook)

Reference Books:
(1) Sato, Shimomoto, Kumasawa: Modern Control Theory for Beginners (Koudansya)
(2) K. Ogata, Modern Control Engineering (Prentice Hall)

Prerequisites

Desirable to master basic calculus and linear algebra (matrices and vectors)

Office hours and How to contact professors for questions