This course provides basic knowledge on state feedback and Luenberger observer for SISO LTI system. First, state space description
is introduced comparing on transfer function. Then based on controllability, state feedback controller is discussed. On the
other hand, observability leads to state observer which estimates state variables via input/output signal. Finally, separation
principle gives basic summary of these notions and tools.
Topics include state space description, system response in time domain, matrix exponent, controllability, stabilization with
state feedback, observability, state observer and separation principle.
- -modelling given linear system in state space representation
-making stability analysis for given linear system - -design of stabilizing feedback controller
- -design of Luenberger state observer
| Class schedule | HW assignments (Including preparation and review of the class.) | Amount of Time Required | |
|---|---|---|---|
| 1. | -state space representation of dynamical system | dynamical/static system, linear dependent/independent of vector | 200minutes |
| 2. | -basic modelling -response of linear system: free response |
transfer function, free response, state transition matrix | 200minutes |
| 3. | -response of linear system: forced response | forced response, variation of parameters | 200minutes |
| 4. | -stability of linear system | system pole, eigenvalue of system matrix | 200minutes |
| 5. | -definition of controllability, physical interpretation | controllability matrix, controllability grammian, Cayley-Hamilton's theorem | 200minutes |
| 6. | -distinction of controllability | controllability canonical form, coordinate change | 200minutes |
| 7. | -transfer function of controllability canonical foam -diagonal canonical foam |
equivalent system, invariance | 200minutes |
| 8. | -pole placement with state feedback | block diagram, controllability | 200minutes |
| 9. | -design of stabilizing feedback controller | stabilizability | 200minutes |
| 10. | -definition of observability, physical interpretation | observability matrix, observability grammian | 200minutes |
| 11. | -distinction of observability | observability canonical form, duality | 200minutes |
| 12. | -state observer -design of Luenberger observer |
pole placement, stabilization | 100minutes |
| duality problem | 100minutes | ||
| 13. | -stabilization of output feedback -servo system design |
coordinate change | 200minutes |
| 14. | -final exam | -solution and comment misunderstanding and pitfall |
600minutes |
| Total. | - | - | 3200minutes |
| assignment | final exam | Total. | |
|---|---|---|---|
| 1. | 20% | 20% | 40% |
| 2. | 10% | 20% | 30% |
| 3. | 10% | 20% | 30% |
| Total. | 40% | 60% | - |
-final exam 60%
-assignment 40%
Necessary condition of eligible students: final exam should be sat for.
Note: This is NOT sufficient condition for accreditation.
Accreditation criteria is to be able to solve and explain problems in assignments.
-assignment 40%
Necessary condition of eligible students: final exam should be sat for.
Note: This is NOT sufficient condition for accreditation.
Accreditation criteria is to be able to solve and explain problems in assignments.
| ways of feedback | specific contents about "Other" |
|---|---|
| Feedback in the class |
- 13:30-17:00 on Mon.-Wed.
- students need appointment
- Course that cultivates a basic problem-solving skills
- Course that cultivates an ability for utilizing knowledge
| Work experience | Work experience and relevance to the course content if applicable |
|---|---|
| Applicable | Applying linear system theory and Laplace/Fourier transformation, lecturer designed practical controller. In lecture, some comments are made for practical image. |
- 4.QUALITY EDUCATION
- 9.INDUSTRY, INNOVATION AND INFRASTRUCTURE
Last modified : Sat Sep 09 08:28:59 JST 2023