EE/AEM 5231 – Linear Systems and Optimal ControlMihailo Jovanovic,
University of Minnesota, Fall 2013
Course descriptionIntroduction to dynamic systems and control. Basic system properties: causality, linearity, timeinvariance. Description of dynamic systems. Statespace models. Linearization. Solution to dynamics systems (discrete time, continuous time). Properties of state transition matrix. Similarity transformations. Modes of LTI systems. Laplace and Z transforms. Impulse response; transfer function; frequency response. Lyapunov stability for LTI systems. Signal measures and inputoutput stability. Inputoutput norms. Interconnections: stability and performance. Controllability – basic ideas. Controllability – standard and canonical forms, modal tests, etc. Observability, observability tests. KalmanHo algorithm for identification of LTI systems. Realization theory for LTI systems. Kalman decomposition. Multivariable poles and zeros. Interconnections: minimality, wellposedness, stability. Statefeedback design. Pole placement. Linear Quadratic Regulator (LQR) design. Algebraic Riccati Equation. Observer design and filtering. Observerbased controllers. Separation principle. Tracking and disturbance rejection. Uncertainty and rudiments of robustness. Class schedule
TuTh, 11:15am  12:30pm, MechE 108; Sept 3  Dec 11, 2013 Instructor and Teaching Assistant
Textbook and software
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