Course Name: Modern Control
Course No.: ECE_1115061
Professor: Prof. Hamid D. Taghirad
Taught Semesters: Fall (2019, 2018, 2016, 2015, 2013, 2012, 2011,2010, 2009, 2008, 2007, 2006, …)
Course Name: Modern Control
Course No.: ECE_1115061
Professor: Prof. Hamid D. Taghirad
Taught Semesters: Fall (2019, 2018, 2016, 2015, 2013, 2012, 2011,2010, 2009, 2008, 2007, 2006, …)
The tentative course contents are as following:
Time: | Teaching Contents |
Week 1 | Introduction: Why Feedback, Conceptual components of feedback systems, Physical components of Feedback systems, State definition, and state feedback. |
Week 2 | LTI System Representation: State space representation, modeling based on physical principles, electrical systems, electro-mechanical systems, mechanical systems. |
Week 3 | LTI System Representation: Hydraulic systems, modeling based on Lagrange equation, mathematical linearization, modeling uncertainty. |
Week 4 | Linear system theory: Linear system properties, solution to linear system D.E., zero-input solution, zero state solution, state transition matrix. |
Week 5 | Linear system theory: State transition matrix derivation methods: Laplace, Dynamical modes, Caley-Hamilton, Silvester methods, similarity transformations. |
Week 6 | Linear system theory: System poles and transmission zeros, diagonalization, Jordan forms, block-Jordan forms. |
Week 7 | Controllability and Observability: Observability, observability matrix, eigenvector test, controllability, duality, Kalman cannonical decomposition. |
Week 8 | Midterm Exam |
Week 9 | Realization and Stability: Controllable and Observable cannonical form, realization of MISO systems, realization of SIMO systems, MIMO realizations |
Week 10 | Realization and Stability: Stability definitions, internal stability, BIBO stability, Lyapunov matrix equation. |
Week 11 | State feedback: State feedback properties, tracking objective, pole placement methods, pole placement for MIMO systems. |
Week 12 | State feedback: Optimal state feedback LQR, applied gain selection, disturbance rejection, State integral feedback. |
Week 13 | State Observer: State observer general idea, full state observer, Luengerger Observer. |
Week 14 | State Observer: Optimal state Observer LQE, Kalman Filter. |
Week 15 | State feedbak-Observer: Separation Theorem, state feedback with disturbance estimation, closed loop performance. |
1 | An Introduction to modern control, Hamid D. Taghirad, K.N. Toosi University of Technology, 3rd edition, 2018. |
2 | Control engineering: a modern approach, Pierre Bélanger, Saunders College Pub., 1995. |
3 | Fundamentals of Modern Control, Ali K. Sedigh, Tehran University Publication, 3rd edition, 2017. |
4 | Linear systems, Thomas Kailath, Englewood Cliffs, N.J. Prentice-Hall, 1980. |
5 | Modern control theory, William L. Brogan, 3rd ed.,.Englewood Cliffs, N.J., Prentice Hall, 1991. |
6 | Modern control engineering, Katsuhiko Ogata, 4th ed., NJ, Prentice Hall, 2010. |