|
AA/EE/ME 547 Autumn 2006 |
|
Instructor Prof.
Kristi A. Morgansen |
Office Hours Office: Condon 318 (6-5950) or
Kirsten SW corner (map) |
|
Teaching
Assistant Jim Colito |
Office: EE1 443 except Oct. 30 which is in EE1 M406 |
Lectures:
MTWF
Homework
section (optional): T
The focus of this course is to develop a solid foundation in the use of dynamical systems for engineering and system-theoretic applications. Solvability of systems of linear equations, vector analysis, and vector ordinary differential equations are discussed in the context of finite dimensional linear systems. Specific topics that will be addressed are linearity and linearization of systems of nonlinear equations; autonomous and non-autonomous (time invariant and time-varying) dynamics; interconnection of systems; realization theory (state space and frequency space representations) of linear systems; poles, zeros and invertibility; norms, bounds, and stability; solutions of vector and matrix differential equations; controllability and observability. Examples will be drawn from modern and classical applications including structural and fluid dynamics, autonomous vehicles, power grid regulation, biology, and communication.
Expectations
My role: The role of an instructor is
to help the students acquire new knowledge and skills more quickly than they
could on their own, to guide the approach to learning with effective tools, to
provide completeness of subject matter, and to place material in context
relative to the larger field.
Student role: The role of a student is, of
course, to learn. Students in this course
are expected to read the notes associated with a topic before the
material is presented in class, to prepare questions on the reading (need for
clarification, connections to previous material, placement of the material in a
larger context, etc), to not wait until 24 hours before assignments are due to
begin them, to utilize the office hours of the professor and TA, and to
interact professionally with all members of the course.
General: Students interested in pursuing graduate degrees in control theory and
robotics come from a variety of backgrounds.
From the point of view of course material, this course provides the
fundamental groundwork on which all other control theory topics are built. Because of the differences in experience,
this course also serves the purpose of alignment of student capabilities with a
common set of tools. Students who take
this course generally find that the material is challenging, that homework
requires significant effort, but that in the end, the time and effort are well
worth the payoff. The structure of the
course is an emphasis on homework (note that with 10 assignments and 50% of the
grade being homework, a zero grade on an assignment decreases the maximum
possible grade in the course from 4.0 to 3.8).
This emphasis is chosen, because while a number of activities in the
world beyond the classroom do function as exams, more often than not activities
(such as research) function like homework.
Office hours: All students are requested to
attend office hours once during the first week of class. This request allows me a chance to get to
know you personally, and familiarizes you with the path to at least one of my
offices.
EDGE: All EDGE students are requested
to send me a phone number and time when I can call you during the first week of
classes. My experience with distance
learning in the past has been that without early efforts to create an active
interaction between faculty and students, inertia may set in.
Resources
·
Robotics, Control and Mechatronics web site: http://www.engr.washington.edu/rcm
·
Class mailing list: All
enrolled students can send messages to the class, TA and instructor through the
mailing list: aa547a_au06@u.washington.edu.
·
ePost: https://catalyst.washington.edu/webtools/epost/register.cgi?owner=morgansn&id=16927
(instructions at http://catalyst.washington.edu/student/EPost.html)
·
Breeze: http://flexlearn.extn.washington.edu/aa547. This tool is primarily in place for office hours with EDGE students,
but all students are welcome.
Homework and Exam Policy
Collaboration on homework assignments is allowed. You may consult outside reference materials, other students, or the instructor. All solutions that are handed in should reflect your understanding of the subject matter at the time of writing. No collaboration is allowed on the midterm or the final exam.
Homework format: When composing your homework for submission, please adhere to the following guidelines: (1) all problems should be submitted in the same order as in the assignment, (2) give each problem the same label as in the assignment, (3) begin each problem by restating the problem then indicate how you will approach the solution, (4) show all relevant work indicating how you reach your solution, and (5) indicate or discuss why your answer is correct or appropriate (e.g. check your answer). For more information see the Five Steps to Problem Solving. Additional points (Oct. 11, 2006): (1) clearly mark your answer, (2) keep relevant information associated (e.g. eigenvectors belong to specific eigenvalues), (3) again, show all relevant work, (4) take pride in your work—neatness counts in whatever profession you have in the future, so practice now!
Homework section:
Homework is due at the beginning of lecture on Tuesdays (
Homework section format: Assignment list. Five people will present during each section (following alphabetical order of the entire class). You are welcome to exchange slots, but please let me know if you choose to do so or if you do not wish to participate. Each presentation will earn 10pts of extra credit on a given assignment (assignments will generally have a total of 50pts). If the assignment does not have five problems, it will be split into five sections (as indicated on the list). Each presenter will have 10 minutes total including time to put on the microphone. Plan accordingly. Be aware of the following guidelines for presenting: plan for the time limit, start at the top of one board section, work down the section, then start in the next board section (partly this is for video taping, but also good style in general), state your reasoning clearly, and talk through the solution. Credit is given for presentation and a valid attempt at solution, not necessarily an entirely correct solution.
Grading
The final grade will be based on homework, a midterm, and a final exam. Grading is not done on a curve, but on a scale. Specifically, if the top grade at the end of the course is not a 4.0, a constant is added to all grades so that the top grade is a 4.0. Grade scaling is determined before extra credit is applied to any grades. If everyone performs well, the possibility exists for everyone to receive a 4.0.
· Homework: 50%. Late homework will not be accepted without prior permission from the instructor.
· Midterm: 20%. The midterm will be an in-class exam on October 31.
· Final exam: 30%. The final exam will most likely be a take-home exam.
Course Text and References
The required reading source for the course is
Additional references are on reserve in the library:
Schedule
This schedule is an initial guideline and is subject to adjustment as the course progresses.
EDGE lecture videos: http://www.engr.washington.edu/edge/aa547/aa547vd.html
Prof. Morgansen will be traveling the
following dates (lectures marked with a * will be pre- or post-recorded):
Oct. 4-5 (Grace Hopper Workshop)
Nov. 17 (UC Santa Barbara)
Dec. 11-15 (IEEE Conference on Decision and Control)
|
Date |
Topics |
Ref Material |
Assignments |
|
Sep. 27 |
Introduction |
|
Homework 1: Assignment, survey, Solutions |
|
Sep. 29 |
Vector spaces |
Ch. 2 |
|
|
Oct. 2 |
|
|
|
|
Oct. 3 |
|
|
Homework 2: Assignment, Solutions |
|
Oct. 4* |
Nonlinear systems and linearization |
Ch. 3 |
|
|
Oct. 6 |
|
|
|
|
Oct. 9 |
MIMO system realizations |
Ch 4 |
|
|
Oct. 10 |
|
|
Homework 3: Assignment, Solutions |
|
Oct. 11 |
|
|
|
|
Oct. 13 |
Interconnection of linear systems |
Ch. 5 |
|
|
Oct. 16 |
Solutions of matrix ODEs |
Ch. 6 |
|
|
Oct. 17 |
|
Homework 4: Assignment, Updated Assignment, Solutions |
|
|
Oct. 18 |
|
|
|
|
Oct. 20 |
|
|
|
|
Oct. 23 |
Stability |
Ch. 7 |
|
|
Oct. 24 |
|
Homework 5: Assignment, Solutions |
|
|
Oct. 25 |
Controllability |
Ch. 8 |
|
|
Oct. 27 |
|
|
|
|
Oct. 30 |
|
|
|
|
Oct. 31 |
State Feedback Designs |
Ch. 9 |
|
|
Nov. 1 |
|
|
|
|
Nov. 3 |
|
|
|
|
Nov. 6 |
Observability |
Ch. 10 |
|
|
Nov. 7 |
|
|
Homework 6: Assignment, Extra Credit, Solutions |
|
Nov. 8 |
|
|
|
|
Nov. 10 |
HOLIDAY |
|
|
|
Nov. 13 |
Kalman Canonical Structures |
Ch. 11 |
|
|
Nov. 14 |
|
|
Homework 7: Assignment, Solutions |
|
Nov. 15 |
|
|
|
|
Nov. 17* |
Laplace MIMO Analysis |
Ch. 12 |
|
|
Nov. 20 |
|
|
|
|
Nov. 21 |
|
|
Homework 8: Assignment, Solutions |
|
Nov. 22 |
|
|
|
|
Nov. 24 |
HOLIDAY |
|
|
|
Nov. 27 |
MIMO Poles and Zeros |
Ch. 13 |
|
|
Nov. 28 |
|
|
Homework 9: Assignment, canon_struc.m, cleanup.m, Solutions |
|
Nov. 29 |
|
|
|
|
Dec. 1 |
|
|
|
|
Dec. 4 |
MIMO Loop Shaping |
notes |
|
|
Dec. 5 |
|
|
|
|
Dec. 6 |
|
|
|
|
Dec. 8 |
|
|
|
|
|
FINAL EXAMINATION |
|
Web page maintained by K. Morgansen (morgansn@u.washington.edu)
Last
updated: 29-Dec-06
