ECE 515

CONTROL SYSTEM THEORY AND DESIGN

This is a fundamental graduate-level course on the modern theory of control of dynamical systems, building upon a first-level course in control such as ECE 486. State space techniques are emphasized in the analysis of dynamical systems and in the synthesis of control laws meeting given design specifications. The course also develops some mathematical tools required for further study in control and communication.

To follow the course, some familiarity with vector spaces and matrix algebra is strongly recommended. Some of this material will, however, be reviewed during the course in proper contexts.

FALL 2009 OFFERING

Instructor: Professor Sean Meyn

Required Text: Lecture Notes on Control System Theory and Design
Available for sale in room 243 of Everitt Lab (IEEE office)
10AM-4PM Monday-Friday (during the first few weeks)

Additional Text: C-T Chen, Linear System Theory and Design, 3rd edition, Oxford University Press, 1999

Supplementary Text: William L. Brogan, Modern Control Theory, 3rd edition, Prentice Hall, 1991

Meeting times: Tuesdays and Thursdays, 9:30 - 11:00 AM in 253 MEB

Office hours: all in 154 Coordinated Science Lab (CSL)
Sean Meyn: Tuesdays, 4:30-5:30PM; Email: meyn@illinois.edu
Yu Ru (TA): Wednesdays, 4:00-5:00PM; Email: yuru2@illinois.edu

COURSE OUTLINE

I. Modeling and Analysis of Control Systems

  1. Linear and nonlinear state space models
  2. Linear algebra and linear operators
  3. State transition matrix and solutions of linear state equations

II. Structural Properties of Control Systems

  1. Stability (Lyapunov, Input-Output)
  2. Stability tests for linear systems
  3. Controllability
  4. Observability
Exam 1: 7:00-8:30 PM October 21, 2009 (Wednesday), 165 EL

III. Feedback Controller Design

  1. Role of feedback in controller design
  2. Stabilization and eigenvalue placement by state and output feedback
  3. Full-order and reduced-order observers
  4. Tracking, disturbance rejection, and the Internal Model Principle
Exam 2: 7:00-8:30 PM November 18, 2009 (Wednesday), 165 EL

Fall break: November 21-29, 2009

IV. Optimal Feedback Control

  1. Dynamic optimization: Dynamic programming and the HJB equation
  2. Specialization to linear systems with quadratic cost (LQ)
  3. The Riccati equation
  4. Infinite horizon problems and steady-state analysis
  5. Minimum principle for continuous-time systems
    Application to Q-learning

For further information click on:

Course Syllabus

Homework Assignments