ME 506 Advanced Control Systems - Schedule
| Module Number | Module Title |
Date of Instruction |
Reading Assignment |
Handouts / Files |
| 1 | Course Intro / Linearization I | Sep 5 | Nise Section 2.11, 3.7, Datta 5.2.1 | Notes on Moodle |
| 2 | Linearization II / Taylor Series | Sep 6 | Franklin E.12, E.13, E.14 Datta 5.2.1, Ex 5.2.6 |
Notes on Moodle |
| 3 | Linearization examples / Dyadic Decomposition | Sep 9 | Datta 5.3 | |
| 4 | Maglev example / Burchett solution / Matlab eig & expm tutorial | Sep 10 | Burchett 7.9, 7.10 Datta 5.3.5 |
HW includes Datta Ex 5.6 |
| 5 | Similarity Transformations, Canonical Forms | Sep 12 | Nise 5.8, 5.7, Franklin E.13 Datta 5.3, 6.5 | |
| 6 | Controllability, Observability | Sep 13 | Franklin F Datta 6.2, 6.3, Nise 12.3, 12.6 |
HW includes Datta 6.27 |
| 7 | State Transition Matrix | Sep 17 | Nise 4.11, Nise Appendix J | |
| 8 | Singular Value Decomposition | Sep 17 | Franklin E.16 Datta 3.9 |
|
| 9 | Matlab SVD, example | Sep 19 | ||
| 10 | Eigenstructure Assignment 1 | Sep 20 | Datta 10.4.3, paper | |
| 11 | Eigenstructure Assignment 2 | Sep 23 | Datta 10.4.3, paper | |
| 12 | MIMO Freq Response Lab | Sep 24 | Bryson & Ho 2.7 | |
13 |
Estimator Design | Sep 26 |
Nise 12.5 |
|
| 14 | MIMO Transfer Function, Freq Resp | Sep 27 | Datta 5.5.1, 5.5.2 | |
| 15 | Exam 1 | Sep 30 | ||
| 16 | Eigenstructure Assignment Lab | Oct 1 |
| Module Number | Module Title |
Date of Instruction |
Textbook |
Homework Problems |
17 |
Constrained optimization 1 | Oct 3 |
Bryson & Ho 1.2 | |
| 18 | Constrained optimization 2 | Oct 4 | Bryson & Ho 2.3 | |
19 |
Calculus of Variations | Oct 7 |
none | |
| 20 | General Boundary Conditions | Oct 8 | Bryson & Ho 2.3 | |
| 21 | Continuous Systems, no terminal constraint | Oct 14 | Bryson & Ho 5.1, 5.2 | |
| 22 | Linear Optimal Regulator | Oct 15 | Franklin 7.6.2,Bryson & Ho 5.4, Kwakernaak ( ) | |
| 23 | LQR control | Oct 17 | ||
| 24 | Intro to Kalman Filter | Oct 18 | ||
| 25 | Kalman Filter | Oct 21 | ||
| 26 | Linear Optimal Regulator Lab | Oct 22 | Bryson & Ho 5.1, 5.2 | |
| 27 | LQG control | Oct 24 | Franklin 7.8 | |
| 28 | No Class, Instructor out of town | Oct 25 | ||
| 29 | Exam 2 | Oct 28 | ||
| 30 | Non-linear State Estimation / Extended Kalman Filter | Oct 29 | Van der Merwe section 2.4 | |
| 31 | Unscented Transformation | Oct 31 | Julier paper Section III | |
| 32 | Unscented Kalman Filter | Nov 1 | Van der Merwe section 3.2 | |
| 33 | Gauss Quadrature | Nov 4 | Chapra p. 503 & ff. | |
| 34 | Solving Linear ODEs by Gauss Quad. | Nov 5 | ||
| 35 | Linear Optimal control by Gauss Quad. | Nov 7 | rlsdemo.m | |
| 36 | Non-linear ODEs by Gauss Quad. | Nov 8 | David Benson Thesis Section 6.2 |
|
37 |
Non-linear Optimal Control by Gauss Quad. | Nov 11 |
David Benson Thesis Section 6.5 | |
| 38 | Cart control by Gauss PS | Nov 12 | Rao et al GPOPS paper | |
| 39 | High order examples, programming and checking constraints | Nov 14 | ||
| 40 | No Class, Instructor out of town | Nov 15 |
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