• Papers that use control Lyapunov functions:
• Primbs, James A., Vesna Nevistić, and John C. Doyle. "Nonlinear optimal control: A control Lyapunov function and receding horizon perspective." Asian Journal of Control 1.1 (1999): 14-24.
• Ogren, Petter, and Naomi Ehrich Leonard. "A convergent dynamic window approach to obstacle avoidance." Robotics, IEEE Transactions on 21.2 (2005): 188-195.
• Notes on LMI-based L2 gain analysis and control were distributed via email.
• "Linear Matrix Inequalities in System and Control Theory" by Boyd et. al, can be found in this link.
• See "LMIs in Control Systems" by Duan and Yu.
• Also look at Linear Parameter Varying (LPV) control slides by Prof. Packard in this link. 
• Application book "Linear parameter-varying control for engineering applications" can be found at MSU Engineering Lib. (TJ220 .W45 2013).
• Yalimp examples can be found in this link.

• Exam 2 will be given at April 11th.
• Project titles are listed under Project. Presentation dates will be assigned.
• Projects will be presented in April 18th, April 21st and April 23rd.
• Final project paper is due April 23rd.
• Submit a hard copy and send a electronic copy of the project paper.
• Write the project paper in a IEEE conference format: http://css.paperplaza.net/conferences/support/support.php

• hw5 is uploaded.
• Joonho will re-grade hw3 so please return your hws.

• Exam 1 will be on Friday 28th Feb 9am-10am in class.
• Scope is up to Lecture 12 and hw4.
• Oepn (text) book and lecture notes only.

• hw4 is uploaded.
• The class on Monday Feb. 10th is replaced with the same time slot on Friday  Feb. 14th.
• hw3 can be sumitted to my office on Feb. 10th or the follwing class Wed Feb 12th. 

• Submit your project proposal by March 10th (after spring break).
• Write the project proposal and the paper in a IEEE conference format: http://css.paperplaza.net/conferences/support/support.php

• Region-of-Attraction (ROA) can be estimatd by optimization techniques, for example,  SOS approach and using simulations and SOS.
• Bifurcation theory is powerful and can be used to analyze abrupt swarm pattern changes, for example, see this paper by Brandon Lindley et al.
• Office hours are updated due to the conflict with Robust Control Class.
• To numerically construct phase portraits for second-order systems, please use ODE Software for Matlab (pplane7.m) written by John C. Polking, Rice University.
• Mathematical prelimiaries are posted in the lecture notes section.

2459 Engineering Building
East Lansing, MI 48824, Phone: (517)-432-3164 

Email:
 

• High gain observers in nonlinear feedback control by Ahmed Ramadan
• Nonlinear control in automotive engine by Ruitao Song
• Design of extended high gain perturbation observer for controlling electronic throttle valve by Yasir Khudhair Al-Nadawi
• Nonlinear backstepping speed control of permanent magnet synchronous motor with speed observer by Abdullah Alfehaid
• Nonlinear control for turbocharged diesel engine by Mengyan Gu
• Analysis of spine model with flexor and extensor muscles by Huan N. Do
• An application to catalytic alkylation of benzene process network with distributed economic MPC design by Ali Abul
• System identification in th presence of bounded data perturbations by Jinyao Yan
• Improved performance of the second order system by using variable structure control by Amer Allafi
• Passivity-based tracking control of a ball on a beam system by Stephanie Priess
• Design and control of an autonomous robotic fish by Hussein Hasan
• Design and analysis of a distributed navigation strategy of mobile sensor networks by Aqeel Madhag.
• Analysis of a power system based on Lyapunov stability theory by Nguyen Thi Thanh Nga

• hw1 (due: 1/27/14 Monday).
• hw2 (due: 2/3/14 Monday).
• hw3 (due: 2/10/14 Monday).
• hw4 Bonus problem: obtain the solution to min x' P x subject to |b'x|=r, where ' denots the transpose operator. (due 2/19/14 Wednesday).
• hw5 (due 3/17/14 Monday).
• hw6 (due 3/24/14 Monday).
• hw7 (due 3/31/14 Monday).
• hw8 (due 4/7/14 Monday).