Modern Control

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, …)

Tentative Course Timetable

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.

Course Content



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.