DSL-Lectures

Lectures - 2006

Linear Systems and Control (Fall/Winter 2006)

Class Dates: Fridays, 10:40-12:10
Credit hours: 1-0-0
Web: http://www.cyb.sc.e.titech.ac.jp/hayakawa/LSC.html
Instructor: Tomohisa Hayakawa
Email: hayakawa[at]sc.e.titech.ac.jp
Office: Rm. W402, W8 Building

Description:

Introduction to linear systems theory and feedback control. This course provides a foundation of modern control theory and also covers several advanced topics in linear dynamical systems.

Projected course schedule:

Lecture#	Date	Topics	Handouts
1	Oct. 6	Linear algebra and coordinate transformation
2	Oct. 13	Controllability and observability
3	Oct. 20	Realization of transfer functions
4	Nov. 8 (Wed)	Lyapunov stability theory and Lyapunov functions
5	Nov. 10	Positive real and bounded real theory
6	Nov. 17	Linear feedback control	Exercise problems
	Nov. 24	FINAL EXAM	Exam2006

References:

Linear Systems Theory and Design C.-T. Chen, Oxford University Press, 1999
Linear Systems, T. Kailath, Prentice-Hall, 1979

Grading Policy:

Assignments (30%); Final exam (70%).

Announcements:

11/22 Another typo was fixed in Problem 5.
11/20 Three typos are fixed.
11/17 Exercise problems are uploaded.
10/5 First day of the class is tomorrow.

Nonlinear and Adaptive Control (Fall/Winter 2006)

Class Dates: Fridays, 10:40-12:10
Credit hours: 1-0-0
Web: http://www.cyb.sc.e.titech.ac.jp/hayakawa/NAC.html
Instructor: Tomohisa Hayakawa
Email: hayakawa[at]sc.e.titech.ac.jp
Office: Rm. W402, W8 Building

Description:

Theory and application of nonlinear and adaptive control systems. Discussed are methods of on-line parameter identification and adaptive control for nonlinear systems with uncertain parameters. To this end, Lyapunov stability theory and Lyapunov functions for general nonlinear systems are examined in the first half of the course.

Projected course schedule:

Lecture#	Date	Topics	Handouts
1	Dec.1	Nonlinear dynamical system theory (existence and uniqueness of solution)
2	Dec.8	Nonlinear dynamical system theory (Lyapunov's stability theory)
	Dec.15	No class
3	Dec.22	Nonlinear dynamical system theory (dissipativity theory)
4	Jan.12	Normal form representation
	Jan. 19	No class
5	Jan.26	Nonlinear adaptive control (1)
6	Feb.2	Nonlinear adaptive control (2)	Exercise
Feb. 9		FINAL EXAM	Exam2006

References:

Nonlinear Systems, H.K. Khalil, Prentice Hall, 2001
Applied Nonlinear Control, J.-J. Slotine and Weiping Li, Prentice Hall, 1990

Grading Policy:

Assignments (30%); Final exam (70%).

Announcements:

2/14 You can check your score of the final exam here.
2/5 Problem 5 has been simplified.
2/4 Two typos have been corrected in the exercise problems.
11/30 First day of the class is tomorrow.