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.

Course Information Sheet

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:

  1. 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)
  2. 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:

Course Outline (tentative):

    Dates              Topics
  1. 2018.10.01 Introduction; state models
  2. 2018.10.15 Linearization
  3. 2018.10.22 Concept of stability
  4. 2018.10.29 Solution to state equation
  5. 2018.11.05 Matrix exponential: diagonalizable case
  6. 2018.11.12 Matrix exponential: non-diagonalizable case
  7. 2018.11.19 Controllability
  8. 2018.11.26 State-feedback control by pole placement
  9. 2018.12.03 Stabilizability
  10. 2018.12.10 Observability
  11. 2018.12.17 Midterm test
  12. 2019.01.07 Detectability, state estimation
  13. 2019.01.21 Output-feedback control by observers
  14. 2019.01.28 Reference tracking and disturbance rejection, regulator equations
  15. 2019.02.12 Final test
  • For 2017 course see here.
  • For 2016 course see here.