| Credit Hours: | 3-0-3 |
| Prerequisites: | ME 3017 or equivalent, or with the consent of the instructor |
| Catalog Description: | Theory and applications of linear systems, state space, stability, feedback controls, observers, LQR, LQG, Kalman Filters. |
| Textbooks: | Chi-Tsong Chen, Linear System Theory and Design, 3rd Edition, Oxford University Press, 1998.
Ferenc Sidarovszky and Terry Bahill, Linear System Theory, Second Edition, CRC Press, 1999. |
| Instructors: | Wayne Book, Ye-Hwa Chen, Kok-Meng Lee, Nader Sadegh, William Singhose |
| Goals: | To be familiar with the theory and applications of linear systems, state space (controllability, observability, realization), stability, feedback control, observers, LQR, LQG, and Kalman filter. |
| Topics: | - State space representations.
- Linearization.
- State equation implementation.
- State equation solution.
- Transfer matrix properties.
- Linear time-invariant system.
- Linear periodic systems.
- Internal stability.
- Lyapunov stability criteria.
- Additional stability criteria.
- Controllability.
- Observability
- Realizability.
- Transfer function realizability.
- Minimal realization.
- Time-varying realizations.
- Time-invariant realizations.
- Input-output stability.
- Bounded-input bounded-output stability.
- Relation to exponential stability.
- Controller observer form.
- Observer form.
- Linear feedback.
- Effect of feedback.
- Feedback stabilization.
- Eigenvalue assignment.
- Noninterconnecting control.
- State observation.
- Observers.
- Output feedback stabilization.
- Reduced dimension observers.
- Servomechanism problem.
- Linear quadratic regulator (LQR).
- Suboptimal design.
- Linear quadratic Gaussian (LQG) design.
- The separation principle.
- LQG/Loop-Transfer Recovery.
- Stochastic process.
- Kalman optimal filter derivation.
- Kalman optimal filter formulation.
- Implementation of the Kalman filter.
- Kalman filter with colored noise.
- Suboptimal steady state Kalman filter.
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| Grading Scheme (%): | Homework | 15 | Projects | 15 | Exams x2 | 20 (each) | Final | 30 |
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