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 one (1) final project & report

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. 2023 -- Jan. 2024
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

2023.09.26 Introduction (+ self-review of state models and linearization)
2023.10.03 Stability concepts: Lyapunov & asymptotic stability
2023.10.10 Initial value problem of ordinary differential equations
2023.10.17 Matrix exponential: diagnolizable case
2023.10.24 Matrix exponential: nondiagnolizable case
2023.10.31 Stability criteria
2023.11.07 Controllability
2023.11.14 State-feedback control
2023.11.28 Eigenvalue assignment
2023.12.05 Stabilizability
2023.12.12 Observability
2023.12.19 Kalman decomposition
2024.01.09 Output-feedback control
2024.01.16 Reference tracking
2024.01.23 Optimal control