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AA-548: Linear Multivariable Control
Winter
2009
Lectures: M,W,F 1:30pm – 2:20pm LOEW 206
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Instructor Prof. Uy-Loi Ly Room: GUG 318D |
Office Hours
Tu 3:00pm - 5:00pm
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Teaching Assistant N/A |
Office Hours N/A |
Course Description
Introduction to MIMO systems, successive single loop design comparison, Lyapunov stability theorem, full state feedback controller design, observer design, LQR problem statement, design, stability analysis, and tracking design. LQG design, separation principle, stability robustness.
Prerequisites:
Linear Systems Theory-- AA/EE/ME-547
The required textbook for the course is
- B.D.O. Anderson and J.B. Moore, Optimal Control: Linear Quadratic Methods, Dover, 2007.
Additional reading sources of interests:
- S. Boyd. Linear Dynamical Systems (EE363 at Stanford).
- A. Bryson. Optimal Control- 1950-1985 (survey).
- S. Sastry. Notes on optimal control and dynamic games (from AA278 at Stanford taught by Claire Tomlin).
- F. L. Lewis. A brief history of feedback control .
- Uy-Loi Ly. Notes for AA-547
- Uy-Loi Ly. Notes for AA-548
- YALMIP
- Matlab
tutorial
- Simulink
tutorial
Software
Matlab and Mathematica
Both Matlab 2007.b and 7.1 are installed on the instructional lab computers, as well as the ULTRA and LUNA Windows Terminal Servers.
You can use Microsoft RDP (included with XP and limited to 8-bit color) and Citrix ICA client
(downloadable at the following URL and much more fully featured).
http://www.citrix.com/site/SS/downloads/downloads.asp?dID=2755
The Citrix client connection setup is described in the Account Setup document.
On checking the Citrix website, the client is now called the "Advanced Gateway Client".
This type of connection is only appropriate for high-speed Internet connections.
Mathematica 6 is also installed in the lab.
Grading
The final grade will be based on homework sets, a project, a midterm exam and a final exam.
- Homework:
20%
Homework sets will be handed out weekly on Wednesday and are due the following Wednesday at the beginning of class.
Late homework will not be accepted or graded without prior permission from the instructor.
- Midterm
exam: 40%
A midterm exam will be given at the midpoint of the quarter. The midterm exam will be OPEN-book.
- Final
exam: 40%
The final exam will take place Monday, March 16, 2009, 230-420 pm, LOW 206. It will be an OPEN-book exam.
Homework policy
Collaboration on homework assignments is encouraged. You may consult outside reference materials, other students, the TA, or the instructor.
All solutions that are handed in must reflect your understanding of the subject matter at the time of writing.
Any required computer work, plots or data must be generated by you and must not be copies of a group effort.
Each homework problem will have equal value and will be formatted to require roughly the same amount of work.
Date
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Topics
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Assignments |
Jan 5
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Introduction |
Chap.
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Jan 7 |
The standard regulator problem - I |
Chap. 2 |
Homework #1 (ASSIGNED) |
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Jan 12
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Jan14 |
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Solution 1 MathematicaSolHomework #2 (ASSIGNED) |
Jan 16
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Jan 19
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MLK Holiday |
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Jan 21
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Solution 2Homework #3 (ASSIGNED) |
Jan 23
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Jan 26
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Tracking systems |
Chap. 4 |
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Jan 28
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Solution 3Homework #4 (ASSIGNED) |
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Properties of regulator systems with classical control interpretation |
Chap. 5 |
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Feb 2
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Feb 4
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Solution 4Homework #5 (ASSIGNED) |
Feb 6
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Feb 9
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Feb 11
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Solution 5
Homework #6 (ASSIGNED) |
Feb 13
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Feb 16
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Presidents Day Holiday |
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Feb 18
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Solution 6
Homework #7
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Feb 20
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Feb 23
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Feb 25
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Solution 7Homework #8 (ASSIGNED) |
Feb 27
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Mar 2
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Mar 4 |
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Mar 6 |
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Mar 9
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Mar 11 |
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Solution 9 |
Mar 13
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Mar 16
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FINAL EXAMINATION
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Solution 8