EE561Spring2020
From CYPHYNETS
(→Project Policy) 

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** A commentary on the comparison between the performance of the compensators  ** A commentary on the comparison between the performance of the compensators  
** Simulationbased projects may not leave out any of the components listed above. Hardwarebased projects however, may include compensator design using only a single technique.  ** Simulationbased projects may not leave out any of the components listed above. Hardwarebased projects however, may include compensator design using only a single technique.  
+  
+  
+  
+  ==Project Ideas==  
+  
+  ===Feedback control methods / robot dynamics===  
+  
+  * LQRTrees: Feedback Motion Planning on Randomized Trees. [http://www.roboticsproceedings.org/rss05/p3.pdf Paper.].  
+  
+  * LQGMP: Optimized Path Planning for Robots with Motion Uncertainty and Imperfect State Information [http://www.roboticsproceedings.org/rss06/p17.pdf Paper.] '''Hasan Arshad Nasir, 10060010'''.  
+  
+  * Integrated Planning and Control for Convexbodied Nonholonomic systems using Local Feedback Control Policies [http://www.roboticsproceedings.org/rss02/p08.pdf Paper.]  
+  
+  * Gait Regulation and Feedback on a Robotic Climbing Hexapod [http://www.roboticsproceedings.org/rss02/p13.pdf Paper.]  
+  
+  ===SLAM/Probabilistic robotics===  
+  
+  * Unified Inverse Depth Parametrization for Monocular SLAM [http://www.roboticsproceedings.org/rss02/p11.pdf Paper.]  
+  
+  * MonteCarlo Localization for Mobile Robots with Stereo Vision [http://www.roboticsproceedings.org/rss01/p49.pdf Paper.]  
+  
+  * Probabilistic Terrain Analysis For HighSpeed Desert Driving [http://www.roboticsproceedings.org/rss02/p21.pdf Paper.]  
+  
+  * A Bayesian Approach to Nonlinear Parameter Identification for Rigid Body Dynamics [http://www.roboticsproceedings.org/rss02/p32.pdf Paper.]  
+  
+  * The Iterated Sigma Point Kalman Filter with Applications to Long Range Stereo [http://www.roboticsproceedings.org/rss02/p34.pdf Paper.] '''Ateeq ur Rehman Shaheen, 09060002.'''  
+  
+  * Gaussian Processes for Signal StrengthBased Location Estimation [http://www.roboticsproceedings.org/rss02/p39.pdf Paper.] '''Abdul Rehman Aslam, 09060014.'''  
+  
+  * MapBased Precision Vehicle Localization in Urban Environments [http://www.roboticsproceedings.org/rss03/p16.pdf Paper.] '''Muhammad Salman, 09060016.'''  
+  
+  * Detection of Principal Directions in Unknown Environments for Autonomous Navigation [http://www.roboticsproceedings.org/rss04/p10.pdf Paper.] '''Amer Zaheer, 04030068.'''  
+  
+  * Improving Localization Robustness in Monocular SLAM Using a HighSpeed Camera [http://www.roboticsproceedings.org/rss04/p24.pdf Paper.]  
+  
+  * Mapping Large Loops with a Single HandHeld Camera [http://www.roboticsproceedings.org/rss03/p38.pdf Paper.] '''Rehmat Ullah Khattak, 08060009.'''  
+  
+  * Model Based Vehicle Tracking for Autonomous Driving in Urban Environments [http://www.roboticsproceedings.org/rss04/p23.pdf Paper.] '''Mazher Ahmad, 10060014'''.  
+  
+  * Large Scale Graphbased SLAM using Aerial Images as Prior Information [http://www.roboticsproceedings.org/rss05/p38.pdf Paper.] '''Syed Muhammad Abbas, 10030019.'''  
+  
+  ===Sampling based methods / Roadmaps===  
+  
+  * Incremental Samplingbased Algorithms for Optimal Motion Planning [http://www.roboticsproceedings.org/rss06/p34.pdf Paper.] '''Ibrahim Tariq, 10060016.'''  
+  
+  * Roadmap Based PursuitEvasion and Collision Avoidance [http://www.roboticsproceedings.org/rss01/p34.pdf Paper.] '''Mudassir Khan, 10060013'''.  
+  
+  * Elastic Roadmaps: Globally TaskConsistent Motion for Autonomous Mobile Manipulation in Dynamic Environments [http://www.roboticsproceedings.org/rss02/p36.pdf Paper.] '''Mhequb Hayat, 09060019.'''  
+  
+  * Structural Improvement Filtering Strategy for PRM [http://www.roboticsproceedings.org/rss04/p22.pdf Paper.]  
+  
+  ===Miscellaneous===  
+  
+  * SingleCluster Spectral Graph Partitioning for Robotics Applications [http://www.roboticsproceedings.org/rss01/p35.pdf Paper.]  
+  
+  * Dynamic Maps for LongTerm Operation of Mobile Service Robots [http://www.roboticsproceedings.org/rss01/p03.pdf Paper.]  
+  
+  * Distributed Coverage Control with Sensory Feedback for Networked Robots [http://www.roboticsproceedings.org/rss02/p07.pdf Paper.] '''Muhammad Irfan Riaz, 09060005.'''  
+  
+  * Dubins Traveling Salesperson Problems: novel approximation algorithms [http://www.roboticsproceedings.org/rss02/p38.pdf Paper.]  
+  
+  * Composition of Vector Fields for MultiRobot Manipulation via Caging [http://www.roboticsproceedings.org/rss03/p04.pdf Paper.] '''Nauman Shahid, 10060025.''' 
Revision as of 03:57, 29 January 2020
EE561: Digital Control Systems  

Spring 2020 
Instructors
Talha Manzoor, Assistant Professor, Center for Water Informatics & Technology (WIT)
Email: talha.manzoor@lums.edu.pk
Office: 9252, Tesla Wing, 2nd Floor, SSE Bldg
TA: Muhammad Mateen Shahid, MS Electrical Engineering
Email: 18060020@lums.edu.pk
Office: Control Systems Lab, Tesla Wing, 2nd Floor, SSE Bldg
Course Details
Year: 201920
Semester: Spring
Category: Graduate
Credits: 3
Elective course for electrical engineering majors. Core course for electrical engineering students pursuing an MS in the "Systems and Controls" stream.
Course Website: http://cyphynets.lums.edu.pk/index.php/EE561Spring2020
Course Description
This course involves the design and analysis of control to be implemented by digital computers for systems that operate on continuous signals. The first part of the course focuses on the analysis of sampleddata systems and the tools employed to study them. These include the language of difference equations, the ztransform, discretization methods for continuoustime systems, dynamic response of discretetime systems and the effects of sampling and quantization. The second part of the course covers the design of feedback control in discrete time domain which includes emulation of controllers designed in continuous time domain and direct design in discretetime domain using both transform based and state space techniques.
Learning Outcomes
 Represent and describe discretetime systems using difference equations and ztransforms
 Analyze discretetime and sampleddata systems in order to deduce system behavior
 Implement controllers designed using continuoustime techniques for application to discretetime systems
 Apply and evaluate different techniques for controller design directly in the digital domain
Prerequisites
 EE361. Feedback Control Systems (for undergrads)
 A working knowledge of ordinary differential equations and linear algebra will be assumed while delivering the lectures.
 Experience in programming with MATLAB will be required to solve some components of the assignments.
Text book
The course will be taught from the following textbook.
(Franklin) Digital control of dynamic systems by Franklin, Powell and Workman (3rd edition), Addison Wesley, 2000.
Other references
(Strang) Computational Science and Engineering, WellesleyCambridge Press, 2007
(FranklinF) Feedback Control of Dynamics Systems, Pearson Prentice Hall, 2013
(Astrom) Computer Controlled Systems, Prentice Hall, 1997
(Ogata) Modern control engineering, Pearson Prentice Hall, 2010
Grading Scheme
Homeworks+Quiz : 20%
Course project: 25%
Midterm: 25%
Final : 30%
General Guidelines
 Quizzes will be announced. There will be no makeup quiz.
 Homework will be due at the beginning of the class on the due date. Late homework will not be accepted.
 You are allowed to collaborate on homework. However, copying solutions is absolutely not permitted. Offenders will be reported for disciplinary action as per university rules.
 Any appeals on grading of homeworks, quiz or midterm scores must be resolved within one week of the return of graded material.
 Attendance in lectures is strongly recommended but not mandatory. However, you are responsible for catching the announcements made in the class.
Course Delivery Method
Lectures. Mon, Wed: 12:30pm1:45pm. 10202. SSE Bldg
Schedule
WEEK  TOPICS  REFERENCES 

Week 1 Jan 20  Lecture 1 Motivation: The control design problem, structure of a digital control system, the need for a dedicated theory of digital control, Categories of systems: discrete, sampleddata, digital; Overview of course contents
Lecture 2 Difference Equations: Difference equation of a resistive ladder (notes), numerically solving difference equations, Method of undetermined coefficients, From ODE’s to difference equations (approximating an integral), The computer solution to an ODE  Astrom Ch 1, Franklin Ch 1, Ch 2.2 
Week 2 Jan 27  Lecture 3 The ztransform: Definition of the transform, transform of elementary signals, the transfer function, interpretation of z as a timedelay operator, block diagram of trapezoid integration, Relation between transfer function and pulse response, convolution
Lecture 4 Pole location and system response: Poles and zeros, Stability (internal and external), Transform of elementary signals, transform of the general sinusoid, relation of pole locations with the time response (radius and angle). 
Franklin Ch 2.3, Ch 2.5

Week 3 Feb 03  Lecture 5
Lecture 6 

Week 4 Feb 10  Lecture 7
Lecture 8 

Week 5 Feb 17  Lecture 9
Lecture 10  
Week 6 Feb 24  Lecture 11
Lecture 12  
Week 7 Mar 02  Project Proposal Presentations
Lecture 13  
Week 8 Mar 09 
Midterm Exam Lecture 14  
Week 9 Mar 16  Midsemester Break.  
Week 10 Mar 23  Lecture 15
Lecture 16  
Week 11 Mar 30  Lecture 17
Lecture 18  
Week 12 Apr 06  Lecture 19
Lecture 20 

Week 13 Apr 13 
Lecture 21 Lecture 22  
Week 14 Apr 20 
Final Project Presentations Lecture 23  
Week 15 Apr 27 
Lecture 24 Course Review
 
Week 16 May 04 
Prepweek  
Week 17 May 11  Finalexam Week 
Project Policy
 Evaluation based on 2 presentations and a report.
 Project title and scope to be proposed by the students and approved by the instructor.
 Project must be motivated by a reallife problem.
 Project must consist of at least the following steps
 Problem background and formulation of the control problem
 Specifications of the system response for control design, properly contextualized in the domain of application
 Sensing mechanisms and sampling related issues
 Discretetime/sampleddata model
 Compensation via a transformbased technique
 Compensation via statespace design
 Evaluation of the designed compensators w.r.t. the response specifications
 A commentary on the comparison between the performance of the compensators
 Simulationbased projects may not leave out any of the components listed above. Hardwarebased projects however, may include compensator design using only a single technique.
Project Ideas
Feedback control methods / robot dynamics
 LQRTrees: Feedback Motion Planning on Randomized Trees. Paper..
 LQGMP: Optimized Path Planning for Robots with Motion Uncertainty and Imperfect State Information Paper. Hasan Arshad Nasir, 10060010.
 Integrated Planning and Control for Convexbodied Nonholonomic systems using Local Feedback Control Policies Paper.
 Gait Regulation and Feedback on a Robotic Climbing Hexapod Paper.
SLAM/Probabilistic robotics
 Unified Inverse Depth Parametrization for Monocular SLAM Paper.
 MonteCarlo Localization for Mobile Robots with Stereo Vision Paper.
 Probabilistic Terrain Analysis For HighSpeed Desert Driving Paper.
 A Bayesian Approach to Nonlinear Parameter Identification for Rigid Body Dynamics Paper.
 The Iterated Sigma Point Kalman Filter with Applications to Long Range Stereo Paper. Ateeq ur Rehman Shaheen, 09060002.
 Gaussian Processes for Signal StrengthBased Location Estimation Paper. Abdul Rehman Aslam, 09060014.
 MapBased Precision Vehicle Localization in Urban Environments Paper. Muhammad Salman, 09060016.
 Detection of Principal Directions in Unknown Environments for Autonomous Navigation Paper. Amer Zaheer, 04030068.
 Improving Localization Robustness in Monocular SLAM Using a HighSpeed Camera Paper.
 Mapping Large Loops with a Single HandHeld Camera Paper. Rehmat Ullah Khattak, 08060009.
 Model Based Vehicle Tracking for Autonomous Driving in Urban Environments Paper. Mazher Ahmad, 10060014.
 Large Scale Graphbased SLAM using Aerial Images as Prior Information Paper. Syed Muhammad Abbas, 10030019.
Sampling based methods / Roadmaps
 Incremental Samplingbased Algorithms for Optimal Motion Planning Paper. Ibrahim Tariq, 10060016.
 Roadmap Based PursuitEvasion and Collision Avoidance Paper. Mudassir Khan, 10060013.
 Elastic Roadmaps: Globally TaskConsistent Motion for Autonomous Mobile Manipulation in Dynamic Environments Paper. Mhequb Hayat, 09060019.
 Structural Improvement Filtering Strategy for PRM Paper.
Miscellaneous
 SingleCluster Spectral Graph Partitioning for Robotics Applications Paper.
 Dynamic Maps for LongTerm Operation of Mobile Service Robots Paper.
 Distributed Coverage Control with Sensory Feedback for Networked Robots Paper. Muhammad Irfan Riaz, 09060005.
 Dubins Traveling Salesperson Problems: novel approximation algorithms Paper.
 Composition of Vector Fields for MultiRobot Manipulation via Caging Paper. Nauman Shahid, 10060025.