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. 2019 -- Feb. 2020
  • Day and Time: Tuesdays 13:20-15:00
  • 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:

  • Final test 100% (2020.02.04)

Homework Assigments:

(Submission of homework is not mandatory; only submitted homework will be marked)

Course Outline (tentative):

    Dates              Topics
  1. 2019.10.01 Introduction; state models (slides)
  2. 2019.10.08 Linearization (slides)
  3. 2019.10.15 Concept of stability, solution to state equation (slides)
  4. 2019.10.29 Matrix exponential: diagonalizable case (slides)
  5. 2019.11.05 Matrix exponential: non-diagonalizable case (slides)
  6. 2019.11.12 Controllability (slides)
  7. 2019.11.19 Control canonical form, state-feedback control by eigenvalue assignment (slides)
  8. 2019.11.26 Stabilizability, Kalman decomposition (slides)
  9. 2019.12.03 Observability, detectability (slides)
  10. 2019.12.17 State estimation, output-feedback control (slides)
  11. 2020.01.07 Reference tracking, regulator equations (slides.pptx) (slides.pdf)
  12. 2020.01.14 Reference tracking with disturbance rejection (slides.pptx) (slides.pdf)
  13. 2020.01.21 Optimal control (slides.pptx) (slides.pdf)
  14. 2020.01.28 Multi-agent systems (slides.pptx)
  15. 2020.02.04 Final test
  • For 2018 course see here.
  • For 2017 course see here.
  • For 2016 course see here.