Linear Feedback Control
- Study how to model linear systems using state-space models;
- learn fundamental system properties: stability, controllability, observability;
- design feedback controllers for linear systems.
Instructor:
- Prof. Kai Cai (Engineering Building F-610)
- Email: kai.cai@eng.osaka-cu.ac.jp
- Office hour: after each lecture or by email appointment
Lecture Schedule:
- Period: Oct. 2018 -- Feb. 2019
- Day and Time: Mondays 14:45-16:15
- Location: Engineering Building B-113
Textbook / Reference:
Lecture notes in class will cover all contents. Two excellent references are:
- B.A. Francis, "Systems Control", lecture notes, Department of Electrical and Computer Engineering, University of Toronto, 2008. (PDF posted for study purpose: part1, part2, part3, ECE557_part4.pdf, part5, part6)
- J.P. Hespanha, " Linear Systems Theory", Princeton University Press, 2009. (Copies to be lent by request)
Software:
Matlab (download the Windows 64bit version here, with university campus license)
Prerequisites:
Linear Algebra, Introduction to Control Engineering
Grading:
- Midterm test 50% (2018.12.17, tentative)
- Final test 50% (2019.02.04, tentative)
Homework Assigments:
- Homework1 (assigned 2018.10.16)
- Homework2 (assigned 2018.11.05)
- Homework3 (assigned 2018.11.19)
- Homework4 (assigned 2018.12.03)
- Homework5 (assigned 2019.01.07)
Course Outline (tentative):
Dates Topics
- 2018.10.01 Introduction; state models
- 2018.10.15 Linearization
- 2018.10.22 Concept of stability
- 2018.10.29 Solution to state equation
- 2018.11.05 Matrix exponential: diagonalizable case
- 2018.11.12 Matrix exponential: non-diagonalizable case
- 2018.11.19 Controllability
- 2018.11.26 State-feedback control by pole placement
- 2018.12.03 Stabilizability
- 2018.12.10 Observability
- 2018.12.17 Midterm test
- 2019.01.07 Detectability, state estimation
- 2019.01.21 Output-feedback control by observers
- 2019.01.28 Reference tracking and disturbance rejection, regulator equations
- 2019.02.12 Final test