MAE 434 : Modern Control, Fall 2014

Course Information

Lectures: Tu/Th 1:30-2:50pm, J201, E-Quad

Instructor:
Vaibhav Srivastava
E-Quad, D-202D
vaibhavs-at-princeton.edu

References

1. J. P. Hespanha, Linear Systems Theory, Princeton University Press, 2009 (main text)

2. S. Skogestad and I. Postlethwaite, Multivariable feedback control: analysis and design, Wiley New York, 2nd edition, 2007

3. G. E. Dullerud and F. Paganini, A course in robust control theory, Springer New York, 2000

4. J. C. Doyle, B. A. Francis and A. R. Tannenbaum, Feedback control theory, Dover Publications, 2013

Grading: Homework, 20%, Two take-home midterm, 25% each, Final project, 30%

1. Homework assignments will be due on Thursdays in class by 1:30 pm and not accepted if late

2. You are welcome and encouraged to collaborate on homework sets. However, please turn in work that represents your own effort and understanding.

3. You may not collaborate on the midterm and the final project.

Outline of Topics

1. State-space systems

2. Linearization (by approximation and by feedback)

3. Transfer functions and state-space systems

4. Solutions to linear systems (matrix exponentials)

5. Stability (Lyapunov stability, I-O stability)

6. Controllability and stabilizability

7. Stabilization with state feedback

8. Observability and detectability

9. State estimation and stabilization with output feedback

10. Minimal realizations

11. LQR/LQG optimal control

12. Additional advanced topics