
Course
Description


Course
Name:

Modern
Control

Course
No.

EE
 861

Professor:

Dr. Hamid D. Taghirad

Semester:

Fall
93

Room
and Time:

MonWed:
7:309:00 Room 205

Office
Hours:

MonWed:
10:3012:00 Dept Chair

Course Contents
This course aims to introduce the state space methods in modeling and
feedback control of linear time invariant systems. The concepts induced in
this framework such as controllability, stabilzability, observability and
detectability is defined and elaborated in this course. Next the system
transformation, stability and realization and state controller and observer
design will be explained. Due to the structure of this course, required
linear system theories are developed, while with an applied vision, the application
of those theories in practice is emphasized. Finally the expertise of
the students are examined in a thorough and comprehensive design
task as a term project.
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,
electromechanical 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., zeroinput solution, zero state solution,
state transition matrix.

Week
5

Linear system
theory: State transition matrix
derivation methods: Laplace, Dynamical modes, CaleyHamilton, Silvester
methods, similarity transformations.

Week
6

Linear system
theory: System poles and
transmission zeros, diagonalization, Jordan forms, blockJordan
forms.

Week
7

Controllability
and Observability: Observability,
observability matrix, eigenvector test, controllability, duality, Kalman
canonical decomposition.

Week
8

Midterm

Week
9

Realization and
Stability: Controllable and
Observable canonical 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
feedbackObserver: Separation
Theorem, state feedback with disturbance estimation, closed loop
performance.



References:
1

An
Introduction to modern control, Hamid D. Taghirad, 3rd Edition, K.N. Toosi University of
Technology, 2014.

2

Control engineering: a modern
approach, Pierre Bélanger, Saunders College Pub., 1995.

3

Fundamentals of Modern Control,
Ali K. Sedigh, Tehran University Publication, 2nd edition, 2009

4

Linear systems, Thomas Kailath,
Englewood Cliffs, N.J. PrenticeHall, 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.

Assignments
Extra
Problems:
Course Evaluation
For Those of you to want provide the teacher your
valuable course evaluation and comments.
Course
Documents
Software
Related Papers
1.

H.D.
Taghirad and E. Esmailzadeh, Automobile passenger comfort assured through LQR/LQG
active suspension, Journal of Vibration and Control,
1999.

2.

E.
Esmailzadeh and H.D. Taghirad, Active vehicle suspensions with optimal statefeedback
control, International Journal
of Modeling and simulation, vol 18, No. 3, pp 228238,
1998.

3.

E.
Esmailzadeh and H.D. Taghirad, Statefeedback control for passenger ride dynamics,
Transactions of the Canadian Society for Mechanical Engineering,
19(4):495508, Dec. 1995.

4.

H.D.
Taghirad, M. Abrishamchian and R. Ghabcheloo, Electromagnetic levitation system: An experimental
approach, Proceedings of the 7th international Conference
on Electrical Engineering, Power System Vol, pp 1926, May 1998, Tehran.

5.

H.D.
Taghirad and E. Esmailzadeh, Passenger ridecomfort through observer based control,
In Proceedings of the 15th ASME biennial Conference on Mechanical Vibration
and Noise, Sept. 1995.



