EE-295 Feedback & Optimal Control

Tentative Syllabus - Spring 2014

January 5, 2014

Course Description
Modeling of continuous and discrete systems; feedback control systems; stability, frequency response
and transient response using root locus, frequency domain and state variable methods. Design of
controllers. Basics of optimal control theory. Optimal estimation (Kalman filtering).

Course Prerequisite
EE 171 Signals Systems or ME 111, System Dynamics.

Prerequisite knowledge and/or skills:

Linear differential equations with constant coefficients
Frequency Response
Laplace transforms and system transfer functions
Linear Algebra
Matlab & Simulink

Textbook
Automatic Control Systems, by Farid Golnaraghi and Benjamin C. Kuo (ISBN-13 # 978-0470-
04896-2), Ninth Edition, Prentice-Hall.

Reference Texts
Optimal Estimation Theory, D.Simon, John Wiley & Sons. (ISBN#13 978-0-471-70858-2)
Optimal Control Theory, An Introduction. Donald E. Kirk, (ISBN# 0-486-43484-2). Dover Pub-
lications, Inc.

Course objectives
Develop fundamentals associated with the analysis, design and simulation of feedback and optimal
control systems using hardware and software control.

Topics covered:

(a) Introduction - Examples of feedback control systems. Example of optimal control. Exam-
ple of optimal state estimation. Hardware: The Rectilnear Electromechanical Plant. DSP
Controller & Data Acquisition board. Software system interface. (Class notes).

(b) Bode plots and Laplace transforms. (Class notes).

(c) Typical elements in a general control system. Block diagram and signal flow graph Open loop
and closed loop transfer functions. (Ch.3 Text).
 (d) Discretization of analog systems. From differential to difference equations. State equations.
(Class notes)

(e) Modelling of physical mechanical & electrical systems. Sensors and encoders. Systems with
time delay. (Ch.4 Text)

(f) Time domain analysis of control systems. PID control. (Ch.5 Text).

(g) Frequency domain analysis. Root locus analysis. (Ch.7 Text).

(g) Frequency domain analysis. Nyquist stability. Gain margin, phase margin. (Ch.8 Text).

(h) Design of controllers: PID, lead/lag. (Ch.9 Text).

(i) Performance measure for optimal control. Variational approach to optimal control.

(j) Kalman filtering for optimal state estimation.

Labs
There will be use of ECP Hardware and Software, MATLAB and Simulink.
Instructor
G. Mirchandani, 355 Votey. mirchand@cems.uvm.edu, 656-4587
Office hours
M, W after class or by appointment.

Homework & Exams

Homework 10%
2 Exams 30% each
Final 30%

Class Web site:

http://www.cems.uvm.edu/~gmirchan/classes/EE295/EE295B.html