Linear Feedback Control
IMPORTANT MESSAGES:
- We are back to classroom teaching/learning, although part of the lectures will still be provided remotely
- Each week, slides and/or videos will be uploaded
- Grading will be based on three (3) quiz and one (1) final exam
Learning Objectives:
- 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: cai@omu.ac.jp
- Office hour: anytime appointment by email
Lecture Schedule:
- Period: Sep. 2022 -- Feb. 2023
- Day and Time: Tuesdays 13:15-14:45
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). After installing the software, you also need to make a change according this document.
Prerequisites:
Linear Algebra, Introduction to Control Engineering
Course Outline:
Dates Topics
- 2022.09.27 Introduction (+ self-review of state models and linearization)
- 2022.10.04 Lypunov stability, asymptotic stability
- 2022.10.11 Matrix exponential: diagonalizable and non-diagoonalizable cases
- 2022.10.18 Stability criteria
- 2022.10.25 Tutorial 1
- 2022.11.08 Quiz 1, reachability, controllability
- 2022.11.15 Control canonical form, state-feedback control by eigenvalue assignment
- 2022.11.22 Stabilizability, Kalman decomposition
- 2022.11.29 State reconstruction, observability, detectability
- 2022.12.06 Observer, output-feedback control
- 2022.12.13 Tutorial 2
- 2022.12.20 Quiz 2, reference tracking, regulator equations
- 2023.01.10 Optimal control
- 2023.01.17 Tutorial 3
- 2023.01.24 Quiz 3, multi-agent systems
- 2023.01.31 Exam, consensus