ELL 333, I semester 202021
This is the the webpage for ELL 333, I semester 202021
Multivariable Control
Instructor
Shaunak Sen
Email: shaunak.sen@ee.iitd.ac.in
Lectures: TThF 11:0011:50am
Room: LH 615
Teaching Assistants
Krishan Kumar Gola
Abhilash Patel
Announcements
Outline
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), 2647, 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), 10591090, 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
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 sampleddata systems”, Annual Reviews in Control, 47, 16, 2019.
R. E. Kalman, “On the general theory of control systems”, Proc. 1st IFAC World Congress, 481492, 1960.
Recorded Lecture 4: Test
Recorded Lecture 5: Designing Dynamics by Assigning Eigenvalues
Oct 28, Oct 29
Reading: AM 7.2
Recorded Lecture 6: Controller Design Examples
1on1 Meetings: Nov 12, Nov 18, Nov 19, Nov 23
Recorded Lecture 7: Observability!
Recorded Lecture 8: Observer Design
Recorded Lecture 9: Separation Principle
Recorded Lecture 10: Kalman Filter
Grammians = Dec 28
MultiAgent 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 StateSpace 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, PrenticeHall 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.
