ME 506 Advanced Control Systems - Schedule


 

Module Number

Module Title

Date of Instruction

Reading Assignment

 

Handouts / Files

1 Course Intro / Linearization I Aug 31 Nise Section 2.11, 3.7, Datta 5.2.1 Notes on Moodle
2 Linearization II / Taylor Series Sep 1 Franklin E.12, E.13, E.14
Datta 5.2.1, Ex 5.2.6
Notes on Moodle
3 Linearization examples / Dyadic Decomposition Sep 4 Datta 5.3
4 Maglev example / Burchett solution / Matlab eig & expm tutorial Sep 5 Datta 5.3.5 HW includes Datta Ex 5.6
5 Nyquist Introduction / SISO freq. resp. Sep 7 Nise 10.3, 10.4 Animation
6 Nyquist Stability Criterion Sep 8 Nise 10.5, 10.6 ALE
7 Nyquist Examples Sep 11 ALE
8 Similarity Transformations, Canonical Forms Sep 12 Nise 5.8, 5.7, Franklin E.13 Datta 5.3, 6.5
9 Controllability, Observability Sep 14 Franklin F
Datta 6.2, 6.3, Nise 12.3, 12.6
HW includes Datta 6.27
10 State Transition Matrix Sep 15 Nise 4.11, Kwakernaak?
11 SISO Output feedback Sep 18  

nare3.fis

12 Singular Value Decomposition Sep 19 Franklin E.16
Datta 3.9
 
13 Matlab SVD, example Sep 21
14 Exam 1 Sep 22
15 Eigenstructure Assignment 1 Sep 25 Datta 10.4.3, paper
16 Eigenstructure Assignment 2 Sep 26 Datta 10.4.3, paper

17

Estimator Design

Sep 28

Nise 12.5
Datta 12.2

18 MIMO Transfer Function, Freq Resp Sep 29 Datta 5.5.1, 5.5.2
19 Eigenstructure Assignment Lab Oct 2

Module Number

Module Title

Date of Instruction

Textbook

Homework Problems
20 MIMO Freq Response Lab Oct 3 Bryson & Ho 2.7

21

Constrained optimization 1

Oct 5

Bryson & Ho 1.2
22 Constrained optimization 2 Oct 6 Bryson & Ho 2.3

23

Calculus of Variations

Oct 9

none
24 General Boundary Conditions Oct 10 Bryson & Ho 2.3
25 Continuous Systems, no terminal constraint Oct 16 Bryson & Ho 5.1, 5.2
26 Linear Optimal Regulator Oct 17 Franklin 7.6.2,Bryson & Ho 5.4, Kwakernaak ( )
27 LQR control Oct 19

28 Linear Optimal Regulator Lab Oct 20 Bryson & Ho 5.1, 5.2
29 Intro to Kalman Filter Oct 23
30 Kalman Filter Oct 24
31 LQG control Oct 26 Franklin 7.8
32 Exam 2 Oct 27  
33 Gauss Quadrature Oct 30 Chapra p. 503 & ff.  
34 Solving Linear ODEs by Gauss Quad. Oct 31
35 Linear Optimal control by Gauss Quad. Nov 2   rlsdemo.m
36 Non-linear ODEs by Gauss Quad. Nov 3

37

Non-linear Optimal Control by Gauss Quad.

Nov 6

38 Cart control by Gauss PS Nov 7
39 High order examples, programming and checking constraints Nov 9
40 Review / Evaluations Nov 10  


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