ELL 333, I semester 2018-19
This is the the webpage for ELL 333, I semester 2018-19
Multivariable Control
Instructor
Shaunak Sen
E-mail: shaunak.sen@ee.iitd.ac.in
Lectures: TWF 8:00-8:50am
Room: LH 527
Teaching Assistants
Soumyadip Banerjee
Shivam Kumar
Rishabh Chauhan
Announcements
15.11.2018: Solutions to REMINOR TEST and Quiz 4.
15.11.2018: MAJOR TEST scheduled from 3:30-5:30PM on Sat, 17.11.2018 in LH108. Please check Exam Schedule for up-to-date information.
26.10.2018: Quiz 3 solutions.
25.10.2018: Following problems from Astrom & Murray may be practised for controller design. 7.3, 7.5, 7.7, 7.9, 7.10, 7.12, 8.1, 8.3, 8.4, 8.14. Additionally, examples in the Advised Reading of the Tables below may also be practised.
08.10.2018: Homework posted. Due 31.10.2018 via moodle
06.10.2018: MINOR TEST 2 Solutions.
01.10.2018: MINOR TEST 2 scheduled from 9:30-10:30AM on Sat, 06.10.2018 in LH318. Please check Exam Schedule for up-to-date information.
22.09.2018: Solutions to Minor Test 1, Quiz 1, and Quiz 2.
27.07.2018: Webpage online.
Lectures
| S. No. | Date | Topic | Advised Reading | Lectures |
| 1 | Week 1
(Jul 24, 25, 27) | Overview
Course Plan and Objectives
A Bicycle Example | Astrom & Murray Ch. 1, 2, 4 | Jul 24
Jul 25
Jul 27 |
| 2 | Week 2
(Jul 31, Aug 1, 3, 4) | Models
Examples - RC Circuit, Pendulum
Linearization | Astrom & Murray Ch. 3,
Astrom & Murray 6.1, 6.4,
Astrom & Murray Pages 5-14 to 5-17 | Jul 31
Aug 1
Aug 3
Aug 4 |
| 3 | Week 3
(Aug 8) | Linearization | | Aug 8 |
| | | | |
| 7 | Week 7
(Sep 4, 5, 7) | Dynamics
Existence and Uniqueness of Solutions
Solution of Linear State-Space Model
Matrix Exponential | Astrom & Murray 5.1
| Sep 4
Sep 5
Sep 7 |
| 8 | Week 8
(Sep 11, 12, 14) | Double Integrator Example
Computing Matrix Exponential
Diagonalization, Jordan Canonical Form | Astrom & Murray 6.2, 6.1
| Sep 11
Sep 12
Sep 14 |
| 9 | Week 9
(Sep 18, 19) | Complete Input-Output Response
Stability
Lyapunov Stability | Astrom & Murray 6.3 | Sep 18
Sep 19 |
| 10 | Week 10
(Sep 25, 26, 28) | Definition
Eigenvalue Test
Linearization Test | Astrom & Murray 5.3 | Sep 25
Sep 26
Sep 28 |
| 11 | Week 11
(Oct 1) | Lyapunov's Stability Theorem | Astrom & Murray 5.4 | Oct 1 |
| 12 | Week 12
(Oct 9, 10, 12 ) | Design Specifications
State Feedback (vs Output Feedback), State Estimation
Overall Controller, Separation Principle |
Astrom & Murray Pgs 8-12 to 8-15 | Oct 9
Oct 10
Oct 12 |
| 13 | Week 13
(Oct 23, 24, 26) | Eigenvalue Assignment
Controllable Canonical Form
Controllability, Reachability |
Astrom & Murray Pgs 7-6 to 7-9, 7-12 to 7-18
Astrom & Murray Pgs 7-1 to 7-4, 7.3 | Oct 23
Oct 24
Oct 26 |
| 14 | Week 14
(Oct 30, 31, Nov 2) | Example - Pendulum on a Cart
Observer Design
Observable Canonical Form
Observability | Astrom & Murray Example 7.2
Astrom & Murray 8.1, 8.2, 8.3 | Oct 30
Oct 31
Nov 2 |
| 15 | Week 15
(Nov 6) | Example - Design with Multiple Inputs
Designing Controller for Bicycle | | Nov 6
Code |
| 16 | Week 16
(Nov 13, 14) | Problems | | Nov 13
Nov 14 |
| 17 | Oct 31 | Transfer Functions
Transfer Functions from State-Space
Poles and Zeroes | Astrom & Murray 9.1, 9.2, 9.3, 9.4 | Oct 27 notes
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Reference Textbooks
K. J. Astrom and R. M. Murray, Feedback Systems: An Introduction for Scientists and Engineers, Princeton University Press, 2008. (Please see FBSwiki)
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