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Modern Control Course

E-courses Homepage

Dr. Hamid D. Taghirad

 

 Description  Contents  References  Assignments  Documents  Software  Papers


 

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Course Description

 

Course Contents

 

References

 

Assignments

 

Documents

 

Developed programs

 

Software

 

Related papers

 

Related Links

 

 

 

 

Related pages:

 

 Dr. Taghirad Homepage

 

 Control Group page

 

 E-courses page

 

 Dr. Taghirad E-courses

 

 Robotics

 

 Nonlinear Control

 

 Robust Control

 

 

 Instrumentation

 

 

 Modern Control

 

 

 Industrial Control

 

 

 Linear Control

 

 

 Digital Control

 

 

Theory of linear systems

 

 

Advanced dynamics

 

 

Advanced industrial control

 

 

Digital and Nonlinear Control

 

 

Signals and Systems

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Course Description

 

 

Course Name:

 Modern Control

Course No.

 EE - 861

Professor:

 Dr. Hamid D. Taghirad

Semester:

 Fall 93

Room and Time:

 Mon-Wed: 7:30-9:00    Room 205

Office Hours:

 Mon-Wed: 10:30-12:00  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., 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 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 feedback-Observer: 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. 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.

Assignments

Assignments (pdf)

Projects (pdf)

Exams (pdf)

Assignment 1,

 14/07/93

Solution

 Part 1 & 2

29/10/93 14:00

  Final 

Assignment 2

28/07/93

Solution

   

  Midterm

Assignment 3

05/08/93

Solution

 

Presentation

 

Assignment 4,

14/08/93

Solution

Quizz 1, Sol

Quizz 2, Sol

 

Assignment 5

21/08/93

Solution

Quizz 3, Sol

Quizz 4, Sol

 

Assignment 6

24/9/93

Solution

Quizz 5, Sol

Quizz 6

 

Assignment 7

3/10/93

Solution

Quizz 7

 

  Grades

Extra Problems:

 Set 1: Solved problems, Extra problems

 Set 2: Solved problems, Extra problems

 Set 3: Solved problems, Extra problems

 Set 4: Solved problems, Extra problems

 Set 5: Solved problems, Extra problems

 Set 6: Solved problems, Extra problems

 

 Set 7: Solved problems, Extra problems

Course Evaluation

For Those of you to want provide the teacher your valuable course evaluation and comments.

Course Documents

Matlab Primer (pdf)

Linear Algebra Text Book: Matrix Analysis and Applied Linear Algebra

 

 

Software

 Mathworks Matlab:

 Control Toolbox, µ-synthesis Toolbox Guide.

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 state-feedback control, International Journal of Modeling and simulation, vol 18, No. 3, pp 228-238, 1998.

3.

E. Esmailzadeh and H.D. Taghirad, State-feedback control for passenger ride dynamics, Transactions of the Canadian Society for Mechanical Engineering, 19(4):495-508, 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 19-26, May 1998, Tehran.

5.

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

Description  Contents  References  Assignments  Documents  Software  Papers