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ECSE 6460 Multivariable Control (Fall 2006)Welcome to the CATS!

Lecture Slides

# Date
Lecture
1 8/29

Introduction (inverted pendulum video, Doyle/Francis/Tannebaum book)

2 8/31
3 9/7
4 9/11
controllability, grammian, Lyapunov equation
Randy Beard, “Linear Operator Equations with Applications in Control and Signal Processing,” IEEE Control Systems Magazine, April, 2002,  pages 69-79.  (on orthogonal decomposition and application to least square problems in systems and control).
5 9/14

observability, Kalman decomposition
Multivariable pole/zero, Smith-McMillan form

Copy of part of Ch. 2 of Maciejowski (on Smith-McMillan form)
in-class notes

6 9/18
7 9/21
8 9/25
9 9/28
10 10/2
11 10/5
Please note that I'll be out of town during the week of 10/9, we'll add a class on 10/25 as a make-up
12 10/16
Beyond stability: performance and loop shaping in-class notes
paper on the derivation of Bode integral formula using arugment principle
13 10/19
14 10/23
Robust stability (cont.) in-class notes
15 10/25
Robust stability (cont.) in-class notes
16 10/26
Robust stability (cont.) in-class notes
17 10/30
18 11/2
Model reduction in-class notes
19 11/6
Model reduction in-class notes
20 11/9
Model reduction in-class notes
21 11/13
H 2 optimization in-class notes Solution of algebraic Riccati equation
22 11/16
23 11/20
24 11/27
25 11/30
26 12/4
Final exam and project discussion. Gap metric in-class notes
I will be out of town on 12/7, so let's meet on Wednesday 12/6 in JEC 4304 at 8:30 am instead
27 12/6
Final exam and project discussion in-class notes