ECSE 6460: Multivariable Control Systems
Fall 2009
Course Info
Instructor: Dr. Agung Julius (JEC 6044, email: agung@ecse, phone: x6993)
Office hours: Monday, Wednesday 2-3pm
Classroom: JEC 4034/ Tuesday, Friday 2-3.20 pm
Textbook: Skogestad and Postlethwaite, Multivariable Feedback Control 2ed, Wiley, 2005.
Additional reading: Doyle, Francis, Tannenbaum, Feedback Control Theory, available online
Grading: Homework sets : 40% ; 2 Take home exams : 2 x 30%
Homework sets are due one week after hand-out. There is a 10% penalty for every late day (7 day max).
No collaboration is allowed for the take home exams. Late submissions will not be accepted.
Prerequisites: Working knowledge in differential calculus, complex variables, linear algebra, and intro. linear systems and control theory.
Tentative Outline
| Nr. | Subject | Note |
| 1 | (Tue 1 Sept) Introduction: course policies, grading, schedule, overview. | slides, syllabus |
| 2 | (Fri 4 Sept) Chapter 2: Classical Feedback Control, Frequency response and transfer function, Bode plot (linear approximation), Feedback control (2.1 – 2.2) | notes |
| 3 |
(Tue 8 Sept) Chapter 2: Classical Feedback Control Closed loop stability, Closed loop performance (2.3 - 2.4) |
notes |
| 4 |
(Fri 11 Sept) Chapter 2: Classical Feedback Control,Loop shaping, sensitivity (2.5 - 2.6) |
notes, m file, Homework set 1 |
| 5 | (Tue 15 Sept) Chapter 2: Control design, H infinity norm, Weighted sensitivity functions (2.8) | notes, m file |
| 6 | (Fri 18 Sept) H infinity design example, internal stability (4.7) | notes, slides, mfile1, mfile2 |
| 7 | (Tue 22 Sept) Chapter 3: Transfer functions, frequency response (3.1 - 3.3) | notes |
| 8 | (Fri 25 Sept) Subjects from Chapter 4, State space realization, Controllability | notes, Homework set 2 |
| 9 | (Tue 29 Sept) Multivariable pole placement, observability | notes |
| 10 | (Fri 2 Oct) Observer design, Separation principle, Multivariable poles | notes |
| 11 | (Tue 6 Oct) Geometric Multivariable Control, Disturbance Decoupling Problem | notes |
| 12 | (Fri 9 Oct) Geometric Multivariable Control, Numerical implementation, DDP with 2DOF | notes, Homework set 3 |
| 13 | (Fri 16 Oct) Geometric Input-Output Decoupling | notes, paper |
| 14 | (Tue 20 Oct) Relative Gain Array, I/O decoupling | notes |
| 15 | (Fri 23 Oct) Design examples using I/O decoupling | slides, mfiles |
| 16 | (Tue 27 Oct) General control problem formulation | notes, mfile, mfile2 |
| 17 | (Fri 30 Oct) Performance limitations for SISO systems, Bounds on peaks | notes, MIDTERM TEST |
| 18 | (Tue 3 Nov) Performance limitations for MIMO systems, Bounds on peaks | notes |
| 19 | (Fri 6 Nov) Performance limitations for SISO systems | notes |
| 20 | (Tue 10 Nov) Performance limitations for MIMO systems | notes |
| 21 | (Fri 13 Nov) Modeling SISO uncertainty (Ch 7) | notes |
| 22 | (Tue 17 Nov) Modeling SISO uncertainty (Ch 7) | notes, Homework set 4 |
| 23 | (Fri 20 Nov) MIMO uncertainty (Ch 8) | notes |
| 24 | (Tue 24 Nov) MIMO uncertainty (Ch 8) | notes |
| 25 | (Tue 1 Dec) MIMO uncertainty, Structured Singular Value (Ch 8) | notes, Homework set 5 |
| 26 | (Fri 4 Dec) MIMO uncertainty, Structured Singular Value (Ch 8) | slides, mfiles |
| 27 | (Tue 8 Dec) DK iteration for controller synthesis, Model reduction | notes, slides, mfiles |
| 28 | (Fri 11 Dec) Model reduction |