ELL 333, I semester 2020-21

Multivariable Control

Instructor
Shaunak Sen
E-mail: shaunak.sen@ee.iitd.ac.in
Lectures: TThF 11:00-11:50am
Room: LH 615

Teaching Assistants
Krishan Kumar Gola
Abhilash Patel

Announcements

• 13.10.2020: Webpage online.
  

Outline

• Sep 28
  

Recorded Lecture 1: A Bicycle Example

• Sep 30, Oct 1
  

• K. J. Astrom, R. E. Klein, A. Lennartsson, “Bicycle dynamics and control”, IEEE Control Systems Magazine, 25(4), 26-47, 2005.
  

• A. L. Schwab & J. P. Meijaard, “A review on bicycle dynamics and rider control”, Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility, 51(7), 1059-1090, 2013.
  

• TEDx Talk: A. Schwab, “Why bicycles do not fall”, youtube, accessed 13.10.2020.
  

• “Yellow Bicycle” Demos accessed 13.10.2020.
  

Recorded Lecture 2: Dynamics & Stability

• Oct 5, Oct 7, Oct 8
  

• Reading: AM Ch 1, Ch 2, Ch 3, Ch 4, 6.4

Recorded Lecture 3: Controllability

• Oct 12, Oct 14
  

• Reading: AM 5.1, 5.2, 5.3, 5.4, 5.6, Ch 6
  

• Y. Yamamoto, “The influence of R. E. Kalman  —  state space theory, realization, and sampled-data systems”, Annual Reviews in Control, 47, 1-6, 2019.

• R. E. Kalman, “On the general theory of control systems”, Proc. 1st IFAC World Congress, 481-492, 1960.

Recorded Lecture 4: Test

• Oct 15, Oct 19, Oct 21

• Reading: AM 7.1
  

Recorded Lecture 5: Designing Dynamics by Assigning Eigenvalues

• Oct 28, Oct 29

• Reading: AM 7.2
  

Recorded Lecture 6: Controller Design Examples

• Nov 4, Nov 5

• Reading: AM 7.3
  

1-on-1 Meetings: Nov 12, Nov 18, Nov 19, Nov 23

Recorded Lecture 7: Observability!
Recorded Lecture 8: Observer Design

• Nov 25, Nov 26

• Reading: AM 8
  

Recorded Lecture 9: Separation Principle

• Dec 16

• Reading: AM 8
  

Recorded Lecture 10: Kalman Filter

• Dec 21

• Reading: AM 8
  

Grammians = Dec 28

Multi-Agent Systems: Cyclic Pursuit = Dec 30

Transfer Functions = Jan 4

Reference Textbooks

• (AM) K. J. Astrom and R. M. Murray, Feedback Systems: An Introduction for Scientists and Engineers, Princeton University Press, 2008.
  (Kindly see FBSwiki)
  

• (F) B. Friedland, Control System Design, An Introduction to State-Space Methods, Dover Books on Electrical Engineering, 2005.
  

• K. Ogata, Modern Control Engineering, Pearson, 5th edition, 2010. (Chapters 9 and 10 may be useful at a basic level relative to Lectures)
  

• G. E. Dullerud and F. Paganini, A Course in Robust Control Theory: A Convex Approach, Springer (Texts in Applied Mathematics), 2000. (Sections 1.1, 1.3, 2.1, 2.2, 2.3, 2.4 may be useful at an advanced level relative to Lectures)
  

• (AnMo) B. D. O. Anderson and J. B. Moore, Optimal Filtering, Prentice-Hall Information and Systems Sciences Series, 1979.
  

• Lecture slides 7 and 8 from Prof. S. Boyd's course page may be useful.
  

• (S) S. Strogatz, Nonlinear Dynamics And Chaos, Westview Press, 1994.