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AA/EE/ME 547 Autumn 2007 |
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Instructor Prof.
Kristi A. Morgansen |
Office Hours Office: Guggenheim 318B |
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Teaching
Assistant Aurelie Heritier |
Office: Guggenheim 306 |
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. 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. NEW THIS YEAR: All EDGE students will be able to speak
directly to me during lectures and during the homework section (see below).
Resources
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Class mailing list: All
enrolled students can send messages to the class, TA and instructor through the
mailing list: aa547a_au07@u.washington.edu.
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ePost: https://catalysttools.washington.edu/gopost/board/morgansn/2696/
(instructions at http://catalyst.washington.edu/help/gopost/index.html)
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Adobe Connect: http://uweoconnect.extn.washington.edu/aa547aut07/
This tool is new this year and will be
used in class to allow students outside the classroom to participate with class
during the live lectures and homework sections. To use Adobe Connect, you just
need to log in to the virtual classroom (I’ll always be logged in with my
laptop during class and homework section).
If you want to ask questions verbally, you will need a microphone. You can hear my audio responses through the
live EDGE webcast. No software needs to
be purchased. I will either use the
internal sound from my laptop, or I will connect external speakers to the
laptop. Voice interaction is the
preferred mode, but typed messages can also be sent to me live during
class. Please inform me ahead of time if
you want to use either of these options during class.
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Robotics, Control and Mechatronics web site: http://www.engr.washington.edu/rcm
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. Existing solution sets from previous years or other sources are not to be used. No collaboration is allowed on the midterm or the final exam.
Homework format: Homework assignments will have some number of problems assigned from the text, and some number of challenge problems or problems related to your project. 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: (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. The homework section will be split into two parts. In the first part, three people will present during each section (following alphabetical order of the entire class). In the second part, I will answer questions. 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 5pts of extra credit on a given assignment (assignments will generally have a total of 50pts). The problems being presented will be the project-related problems or the challenge problems. 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: 20%. The final exam will most likely be a take-home exam.
· Project: 10%. Students will complete a project using the tools from the course on a physical system. Project plans are due Oct. 9. The project plan should outline your project according to the five steps of problem solving. The final project must be typed. Project guidelines and formatting requirements (IEEEconf.pdf).
Course Text and References
The required reading source for the course is
- Panos J. Antsaklis and
Anthony N. Michel, A Linear Systems Primer, Birkhauser,
Additional references are on reserve in the Engineering library:
- Panos J. Antsaklis and
Anthony N. Michel, Linear Systems, Birkhauser,
- Roger W. Brockett, Finite
Dimensional Linear Systems, John Wiley and Sons, Inc.,
- Wilson J. Rugh, Linear System Theory, Second Edition, Prentice Hall, Inc., 1996.
- Thomas Kailath, Linear Systems, Prentice Hall Inc., 1980.
- David F. Delchamps, State-Space and Input-Output Linear Systems, Springer Verlag, 1988.
- Philip E. Sarachik, Principles of Linear Systems, Cambridge University Press, 1997.
- Chi-Tsong Chen, Linear System Theory and Design, Holt, Rinehart and Winston, Inc., 1984.
- Donald M. Wiberg, Theory and Problems of State-Space and Linear Systems, Schaum's Outline Series, McGraw Hill, Inc., 1971.
- N. E. Leonard and W. S. Levine, Using Matlab to Analyze and Design Control Systems, Benjamin/Cummings, 1992.
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. 29-30 (Virginia Tech)
Nov. ** (workshop)
Dec. 12-14 (IEEE Conference on Decision and Control)
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Date |
Topics |
Reading
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Assignments |
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Sep. 26 |
Introduction State space models |
Section 1.1-1.4, 2.1-2.3 |
Homework 1: Assignment, survey, Solutions, soln1-5.nb |
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Sep. 28 |
Linearization |
Section 1.6, 2.3 |
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Oct. 1 |
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Oct. 2 |
Causality, and linearity |
Section 2.4 |
Homework 2: Assignment, Solutions |
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Oct. 3 |
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Oct. 5 |
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Oct. 8 |
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Oct. 9 |
System realizations |
AEM547-Lecture89-10102007-2.pdf |
Homework 3: Assignment, Solutions, hw3-p2.nb |
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Oct. 10 |
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Oct. 12 |
State transition matrix (LTV) |
Section 3.1-3.2 |
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Oct. 15 |
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Oct. 16 |
Matrix exponentials (LTI) |
Homework 4: Assignment, Solutions |
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Oct. 17 |
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Oct. 19 |
Continuous time control responses |
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Oct. 22 |
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Oct. 23 |
Discrete time control responses |
Homework 5: Assignment, Solutions |
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Oct. 24 |
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Oct. 26 |
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Oct. 29* |
Internal stability - Lyapunov |
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Oct. 30 |
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MIDTERM: Sample problems, Sample problem solutions
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Oct. 31 |
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Nov. 2 |
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Nov. 5 |
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Nov. 6 |
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Homework 6: Assignment, Solutions |
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Nov. 7 |
Fundamentals |
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Nov. 9 |
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Nov. 12 |
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Nov. 13 |
Controllability and Observability Special Forms |
Homework 7: Assignment, Solutions |
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Nov. 14 |
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Nov. 16 |
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Nov. 19 |
Controller and observer forms |
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Nov. 20 |
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Homework 8: Assignment, canon_struc.m, cleanup.m, Solutions |
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Nov. 21 |
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Nov. 23 |
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Nov. 26 |
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Nov. 27 |
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Nov. 28 |
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Nov. 30 |
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Dec. 3 |
MIMO poles and zeros |
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Dec. 4 |
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Dec. 5 |
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Dec. 7 |
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FINAL EXAMINATION |
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FINAL, LTV-stability.pdf, (Solutions), Sample problems, Sample problem
solns
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Web page maintained by K. Morgansen (morgansn@u.washington.edu)
Last
updated: 27-Sep-07