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:
- 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:
- Final test 100% (2020.02.04)
Homework Assigments:
- Homework1 (assigned 2019.10.08)
- Homework2 (assigned 2019.11.05)
- Homework3 (assigned 2019.11.19)
- Homework4 (assigned 2019.12.03)
- Homework5 (assigned 2020.01.07)
(Submission of homework is not mandatory; only submitted homework will be marked)
Course Outline (tentative):
Dates Topics
- 2019.10.01 Introduction; state models (slides)
- 2019.10.08 Linearization (slides)
- 2019.10.15 Concept of stability, solution to state equation (slides)
- 2019.10.29 Matrix exponential: diagonalizable case (slides)
- 2019.11.05 Matrix exponential: non-diagonalizable case (slides)
- 2019.11.12 Controllability (slides)
- 2019.11.19 Control canonical form, state-feedback control by eigenvalue assignment (slides)
- 2019.11.26 Stabilizability, Kalman decomposition (slides)
- 2019.12.03 Observability, detectability (slides)
- 2019.12.17 State estimation, output-feedback control (slides)
- 2020.01.07 Reference tracking, regulator equations (slides.pptx) (slides.pdf)
- 2020.01.14 Reference tracking with disturbance rejection (slides.pptx) (slides.pdf)
- 2020.01.21 Optimal control (slides.pptx) (slides.pdf)
- 2020.01.28 Multi-agent systems (slides.pptx)
- 2020.02.04 Final test