CDS 212 Fall 2010
Feedback Control Theory
Introduction to modern feedback control theory with emphasis on the role of feedback in overall system analysis and design. Examples drawn from throughout engineering and science. Open versus closed loop control. State-space methods, time and frequency domain, stability and stabilization, realization theory. Time-varying and nonlinear models. Uncertainty and robustness.
The two primary texts for the course (available via the online bookstore) are
|[DFT]||J. Doyle, B. Francis and A. Tannenbaum, Feedback Control Theory, Dover, 2009 (originally published by Macmillan, 1992). Available online at http://www.control.utoronto.ca/people/profs/francis/dft.html.|
|[PD]||F. Paganini and G. Dullerud, A Course in Robust Control Theory, Springer, 2000.|
The following additional texts may be useful for some students:
|[FBS]||K. J. Astrom and R. M. Murray, Feedback Systems: An Introduction for Scientists and Engineers, Princeton University Press, 2008. Available online at http://www.cds.caltech.edu/~murray/amwiki.|
|Norms for signals and systems||DFT Ch 1, 2
DP Ch 3
|Feedback, stability and performance||DFT Ch 3
|Uncertainty and robustness||DFT Ch 4
|Fundamental limits||DFT Ch 6
FBS 11.4, 12.4
|Stability in state space||HW 5|
|Stability via LMIs||HW 6|
|Nonlinear systems||HW 7|
|Links with nformation theory and statistical mechanics||
The ﬁnal grade will be based on homework and a ﬁnal exam:
- Homework (75%) - There will be 9 one-week problem sets, due in class one week after they are assigned. Late homework will not be accepted without prior permission from the instructor.
- Final exam (25%) - The ﬁnal will be handed out the last day of class and is due back at the end of ﬁnals week. Open book, time limit to be decided (likely N hours over a 4-8N hour period).
The lowest homework score you receive will be dropped in computing your homework average. In addition, if your score on the ﬁnal is higher than the weighted average of your homework and ﬁnal, your ﬁnal will be used to determine your course grade.
Collaboration on homework assignments is encouraged. You may consult outside reference materials, other students, the TA, or the instructor. Use of solutions from previous years in the course is not allowed. All solutions that are handed should reﬂect your understanding of the subject matter at the time of writing.
No collaboration is allowed on the ﬁnal exam.