EE-663

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(Course Description)
Current revision (07:44, 3 August 2016) (view source)
(Schedule (TO BE UPDATED))
 
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! WEEK !!  TOPICS !! REFERENCES
! WEEK !!  TOPICS !! REFERENCES
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| align ="left" | Week 1. Aug 19
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| align ="left" | Week 1.  
| align ="left" |  '''Lecture 1'''. Introduction to concepts of control, feedback, feedforward, uncertainty and robustness;  
| align ="left" |  '''Lecture 1'''. Introduction to concepts of control, feedback, feedforward, uncertainty and robustness;  
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| align ="left" |  
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'''Recitation'''. Review of SISO continuous-time signals and systems;
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| align ="left" | FranklinF Ch1;
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| align ="left" | Week 2. Aug 26
 
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| align ="left" | '''Lecture 2'''. Review of SISO feedback control; rational LTI systems; geometry of 2nd order poles; error expression in closed loop and open loop systems; sensitivity function; control design objectives;
 
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'''Lecture 3'''. Summary of control design; compensators and PID controllers; introduction to sampled data systems; Naive approaches towards emulation; Euler's forward approximation; a pseudo-algorithm for controller implementation;
 
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| align ="left" | FranklinD 2, FranklinF 4.4
 
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| align ="left" | Week 3. Sept 2
 
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| align ="left" | '''Lecture 4'''. Digital control by emulation; Euler's forward and backward approximation; trapezoidal rule; approximation of a continuous time compensator; zero order hold (ZOH) and delays; general difference equations; introduction to the Z-transform;
 
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'''Lecture 5'''. Solution of difference equations by Z-transform method; transfer functions; integrator approximation in transform domain; continuous-to-discrete approximations for controller synthesis by emulation; block diagram representations using delays, summers and gain
 
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'''Recitation / Seminar.''' Feedback control scheduling of crane control systems. [[Media:lums-css-seminars-fall2013-sept6.pdf|Announcement]].  [[Media:oumair-seminarslides-fall2013-sept6.pdf|Slides]]
 
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| align ="left" | FranklinD Ch 3
 
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[[Media:EE561-fall2013-HW1.pdf|Home work #1]]
 
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[[Media:EE561-fall2013-HW1-sol.pdf|Home work #1 solutions]]
 
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| align ="left" | Week 4. Sept 9
 
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| align ="left" | '''Lecture 6'''. Impulse response and convolution in discrete-time systems; tests for linearity time-invariance, stability, causality; basic block diagrams; canonical forms;
 
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'''Lecture 7'''. Frequency response of discrete-time LTI systems; Discrete-time Fourier transform; relation to Z-transform; time and frequency analysis of prototypical first order and second order discrete-time systems;
 
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'''Lecture 8'''. Comparison of Z-transform and Laplace transform of sampled signals; mapping between s-plane and z-plane; mappings induced by Euler and trapezoidal approximations; Tustin's approximation of a continuous-time first order system; distortion in frequency response due to trapezoidal approximation;
 
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| align ="left" | FranklinD Ch 3; Oppenheim 5.1.1, 6.6.2; FranklinD 6.1;
 
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[[Media:EE561-fall2013-HW2.pdf|Home work #2]]
 
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[[Media:EE561-fall2013-HW2-sol.pdf|Home work #2 solutions]]
 
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| align ="left" | Week 5. Sept 16
 
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| align ="left" | '''Lecture 9'''. Example on frequency response distortion(contd.); introduction to state space analysis; idea of a state; state-space model of Newtonian mechanics;
 
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| align ="left" | FranklinD 6.1; FranklinF Ch 7;
 
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| align ="left" | Week 6. Sept 23
 
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| align ="left" | '''Lecture 10'''. Examples of state-space modeling; block diagrams and state-space models; 
 
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'''Lecture 11'''. Control canonical form and modal canonical form for SISO systems; how to find explicit transformations to setup control canonical form; the idea of a controllability matrix;
 
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'''Recitation'''.
 
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[[Media:EE561-fall2013-Quiz1.pdf|Quiz #1]]
 
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[[Media:EE561-fall2013-Quiz1-sol.pdf|Quiz #1 solutions]]
 
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| align ="left" | FranklinF Ch 7.2, 7.3;
 
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[[Media:EE561-fall2013-HW3.pdf|Home work #3]]
 
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[[Media:EE561-fall2013-HW3-sol.pdf|Home work #3 solutions]]
 
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| align ="left" | Week 7. Sept 30
 
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| align ="left" | '''Lecture 12'''. Controllability (contd.); invariance of controllability condition under invertible transformations; computing dynamic response from state-equations using Laplace transform; relationship between transfer functions and state-space models for a SISO LTI system;
 
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'''Lecture 13'''. Interpretation of transfer function poles in state-space models (contd.); Interpretation of transfer function zeros in state-space models; constructing explicit transformations to obtain Modal canonical form; poles, modes and eigen-decomposition of system matrix; examples;
 
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| align ="left" | FranklinF Ch 7.3, 7.4;
 
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| align ="left" | Week 8. Oct 7
 
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| align ="left" | '''Lecture 14'''. Problem solving & review session
 
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[[Media:EE561-fall2013-midterm.pdf|Midterm Exam]]
 
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[[Media:EE561-fall2013-midterm-sol.pdf|Midterm Exam solutions]]
 
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| align ="left" |
 
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| align ="left" | Week 9. Oct 14
 
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| align ="left" | '''Eid/Midterm Break'''.
 
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| align ="left" | Week 10. Oct 21
 
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| align ="left" | '''Lecture 15'''. Review of canonical forms; the concept of state feedback; pole-placement; Ackermann's formula;
 
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'''Lecture 16'''. Review of pole placement; Ackermann's formula and controllability; how to add references for trajectory tracking; state-estimator design; concept of an observer; observer design; observer canonical form; observer design by Ackermann's formula; observability matrix;
 
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| align ="left" | FranklinF 7.5.1, 7.5.2;
 
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[[Media:EE561-fall2013-HW4.pdf|Home work #4]]
 
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[[Media:EE561-fall2013-HW4-sol.pdf|Home work #4 solutions]]
 
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| align ="left" | Week 11. Oct 28
 
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| align ="left" | '''Lecture 17'''. Review of combined state feedback and observor design; definitions of controllability and observability; physical interpretation of observability and controllability; examples of uncontrollable and unobservable systems from circuit theory and mechanics;
 
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'''Lecture 18'''. Solutions of continuous-time LTI state-space models; a re-look at forced and natural responses; matrix exponential and its properties; Discrete-time state space models; discretized matrix equivalents of continuous-time LTI models; 
 
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| align ="left" | FranklinF 7.7.1, 7.8; Chen 4.2;
 
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| align ="left" | Week 12. Nov 4
 
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| align ="left" | '''Lecture 19'''. Discrete-time state space models continued; example of double-integrator; a re-look at Zero order hold (ZOH) in state-space models and transfer functions;
 
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'''Lecture 20'''. Discrete-time state-space form of Euler and Tustin's approximations; full-state feedback control in discrete-time LTI systems;
 
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pole placement; control canonical form; Ackermann's formula re-visited; graphical understanding of z-plane via mapping from s-plane contours of constant damping ratio, natural frequency;
 
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'''Lecture 21 / Recitation'''. State-space models from difference equations; FIR and IIR filters; state-space modeling example: Laplacian dynamics in networked control systems 
 
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| align ="left" | FranklinD 4.3.3; 4.3.1; 4.2.3; 8.1;
 
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| align ="left" | Week 13. Nov 11
 
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| align ="left" | '''Lecture 22'''. Prediction estimators; observability in discrete-time; observability as a dual concept to controllability; derivation of Ackermann's formula for observer design;
 
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'''Lecture 23'''. Discrete-time Regulator design; combining control law and estimator; proof of Separation Principle; regulators reinterpreted as classical z-domain compensators;
 
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[[Media:EE561-fall2013-quiz2.pdf|Quiz #2]]
 
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[[Media:EE561-fall2013-quiz2-sol.pdf|Quiz #2 solutions]]
 
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| align ="left" | FranklinD 8.2.1; 8.3;
 
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[[Media:EE561-fall2013-HW5.pdf|Home work #5]]
 
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[[Media:EE561-fall2013-HW5-sol.pdf|Home work #5 solutions]]
 
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| align ="left" | Week 14. Nov 18
 
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| align ="left" | '''Lecture 24'''. Adding reference to standard regulator design for trajectory tracking; Feedforward loop for zero tracking error; determination of pre-filter matrices; state-command structure; output command structure; 
 
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'''Lecture 25'''. Integral control; state augmentation; disturbance estimation; observability and disturbance estimation;
 
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'''Recitation'''. Jordan decomposition method for handling repeated and complex poles.
 
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| align ="left" | FranklinD 8.4;
 
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[http://math.rwinters.com/E21b/supplements/newbasis.pdf  Notes on Jordan decomposition.]
 
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| align ="left" | Week 15. Nov 25
 
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| align ="left" | '''Lecture 26'''. Optimal control in discrete-time; Lagrange multiplier method;
 
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'''Lecture 27'''. Linear Quadratic Regulator (LQR); steady-state optimal control; algebraic Ricatti equations;
 
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| align ="left" | FranklinD 9.2;
 
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[[Media:EE561-fall2013-HW6.pdf|Home work #6]]
 
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[[Media:EE561-fall2013-HW6-sol.pdf|Home work #6 solutions]]
 
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| align ="left" | Week 16. Dec 2
 
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| align ="left" | '''Lecture 28'''. Review Lecture
 
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[[Media:EE561-fall2013-Quiz3.pdf|Quiz #3]]
 
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'''Project Presentations'''.
 
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Current revision

EE-663: Topics in Systems & Control


Instructors

Dr. Abubakr Muhammad, Assistant Professor of Electrical Engineering

Email: abubakr [at] lums.edu.pk

Office: Room 9-351A, 3rd Floor, SSE Bldg


Course Details

Year: 2014-15

Semester: Spring

Category: Graduate

Credits: 3

Elective course for electrical engineering majors

Course Description

Objectives

Learning Outcomes

Pre-requisites

EE-561. Digital Control Systems

Text book

The course will be taught from the following textbooks.

Grading Scheme

Homeworks+Quiz :

Project:

Midterm:

Final :


Schedule (TO BE UPDATED)

WEEK TOPICS REFERENCES
Week 1. Lecture 1. Introduction to concepts of control, feedback, feedforward, uncertainty and robustness;
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