• Modern Control Theory
    • School of Electronic, Information and Electrical Engineering
    • Credit. 2
    • AU450
    • Enroll
    • Fall , 2015
    • 5061
    • Course Description:
    • ( Exchange Programme )
    • This is a fundamental course on the modern theory of dynamical systems and control. Fundamental concepts of modern control theory are covered, including systems modeling and solutions in state space, stability, controllability, observability, and pole placement. Furthermore, system similarity transformation, stability and realization, and state controller and observer design will be explained. Computer based tools-Matlab for control system design is also introduced.
      Chapter1 Introduction
      In this chapter, the history of control theory, some basic concepts of control system, and the application of control theory are introduced.
      Chapter2 Mathematic description of dynamic system
      In this chapter, the state variables and state space description are elaborated. Methods of setting up state space models for dynamic systems are described in detail.
      Chapter3 Linear algebra
      This chapter focuses on fundamental knowledge on linear algebra, including mathematic review of linear algebra, linear transformation, and computation of exponential matrix.
      Chapter 4 Space state solutions and realization
      This chapter introduces computation solutions to state space models. The realization of a LTI system in different forms is illustrated.
      Chapter 5 Stability analysis
      Stability of multi-variable systems is analyzed by using lyapunov methods. Several detective approaches are given based on lyapnov theorems.
      Chapter 6 Controllability and observability
      This chapter discusses controllability and observability of a system. First, the definitions are given. Then detective methods of controllability and observability of LTI systems are described.
      Chapter 7 State feedback and state estimator
      In this chapter, design method and design procedure of state feedback based controller are introduced. It focuses on pole placement method. Design method and procedure of state observer are another important part of this chapter. Finally, state feedback control based on pole placement and state observer is discussed.
      Chapter 8 Optimal control
      In this chapter, the fundamental concepts of optimal control are introduced. Design of LQR controller and its application are also described.
    • Course Syllabus:
    • After completing the course, students should:
      1. Learn the state space methods in modeling and feedback control of linear time invariant systems.
      2. Understand fundamental aspects of modern control theory, including solutions to systems modeled in state space, linear transformation, stability analysis, controllability, observability, and pole placement control.
      3. Realize or build a state-space model based on transfer functions or real system.
      4. Analyze the controllability and observability of systems.
      5. Analyze the stability of a control system.
      6. Design state feedback controller for control systems based on pole placement.
      7. Design state estimators for control system.
      8. Learn to analyze and design control systems based on Matlab.
      9. Upon completion of the course, students will be able to apply basic design and analysis skill to solve practical problems in dynamic systems and lay a solid foundation for advanced courses.
    • Schedule:
    • Topics / Credit hours / Teaching methodology / Tasks / Intended learning outcomes / Assessment methods

      1. Introduction / 2 Credit hours / Lecture
      2. Mathematic description of dynamic system / 4 Credit hours / Lecture / 9,10,12,18,20 / State-space modeling / Homework
      3. Linear algebra / 4 Credit hours / Lecture / 3,7,9,13,18,22 / Rules and laws of linear algebra / Homework
      4. Space state solutions and realization / 4 Credit hours / Lecture / 5,11,13,16 / Realize transfer functions to state space models / Homework
      5. Stability analysis / 2 Credit hours / Lecture / 6,15,20 / System poles analysis / Homework
      6. Controllability and observability / 4 Credit hours / Lecture / 2,14,17,19 / Analysis of controllability and observability via rank of matrix / Homework
      7. Lab Project1 / 2 Credit hours / Labwork / Null / Using Matlab to analyze systems / Homework
      8. State feedback and state estimator / 4 Credit hours / Lecture / 1,9,11 / Design of state feedback controller and estimator / Homework
      9. Fundamentals of optimal control / 2 Credit hours / Lecture / Null / Basic design of optimal controller / Homework
      10. Lab Project2 / 4 Credit hours / Labwork / Null / Using Matlab to design controller and estimator / Report
  • Reading list
  • Other Materials
  • Discussion
  • Homework download/submit
    • Bao Qilian
    • Associate Professor
    • Read more
    • Female
    • E-mail:
    • qlbao@sjtu.edu.cn
    • Profile
    • Bao Qilian is currently an associate professor in the Department of Instrument Science and Engineering of Shanghai Jiao Tong University, Shanghai, China. She received a B.E. degree and a Ph.D. degree in Automatic Control from Shanghai Jiao Tong University in 1992 and 1998. As a visiting scholar, She visited University of Manchester and University of California at San Diego in 2002 and 2010. She also worked as a visiting scholar in University of Connecticut from July, 2012 to July 2013.

      Research interest:
      Her research interests include integrated navigation systems, data fusion technology, intelligent control, and virtual measurements.

      Awards and Honors
      1. Outstanding Faculty Award of Shanghai Jiao Tong University in 2001
      2. Outstanding Faculty Award of Shanghai Jiao Tong University in 2008

      Teaching courses:
      1. Digital Electronics Technology
      2. Modern Control Theory
      3. Signals and systems
      4. Principle of Automatic Control
      5. Fuzzy control and Neural networks
  • Prerequisite Course:

    Classic Control Theory, Linear Algebra

  • Textbooks:

    C.-T. Chen, Linear System Theory and Design, 3rd Ed., Oxford University Press, 1999.
  • Grading:

    30% / Attendance, homework, quiz
    30% / Lab projects and reports
    40% / Final project report and presentation
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