Escolar Documentos
Profissional Documentos
Cultura Documentos
AE 551
Grading:
Weekly homework 10%
Inv. Pend. Project 10%
Exams
80%
(equally weighted)
There will be one (1) midterm exam and the final. The midterm exam will be of
two hours duration and will be given at night. You will have at least two weeks
warning of when the midterm exam will take place. The final is at the time set by
the registrar.
Two lowest HW set scores will be dropped. No late HW accepted; see below.
The project is like an extended homework problem. It uses linearization methods
to control the classic inverted pendulum on a cart; you will have very precise
instructions on what to do, and a written report to turn in. There is no oral report.
The goal is for you to apply what you learned in linear systems theory (i.e., EECS
560) to a nonlinear system. In later HW sets, we will design nonlinear controllers
that perform much better!
Other references for nonlinear control design and analysis: these are not
on reserve.
H. Nijmeijer and A.J. van der Schaft, Nonlinear Dynamical Control Systems,
Springer-Verlag, New York, 1990.
1. If you have completed the graduate linear systems course at Michigan, EECS 560 = ME 564 =
AERO 550, then you have adequate background and do not need to read further. If you have not
had that course, I will try to list the key things you should learn on your own. The list is not so
long.
2. Part of what EECS 560 gives you is mathematical maturity. That course does a lot of theory. So
does EECS 562. If you have taken ROB 501, then you have even more mathematical maturity than
is acquired in EECS 560, so in that regard, you will be ne.
3. Stability of a linear time-invariant state variable model: x = Ax, with x0 Rn . You need to learn
when a linear time-invariant model is stable in the sense of Lyapunov, when it is asymptotically
stable in the sense of Lyapunov, and when it is unstable. The conditions are given in terms of the
e-values of A and its Jordan canonical form.
4. Stabilizability of a linear time-invariant control system: x = Ax + Bu, with x Rn and u Rm .
When does there exist a linear state variable feedback u = F x such that the closed-loop system
x = (A + BF )x is asymptotically stable? It is enough to know that a sucient condition is for
the system to be completely controllable, and that complete controllabilty can be checked via the
Kalman controllability rank condition: rank [B | AB | | A(n1) B] = n. Also, you can compute
the feedback using the place command in Matlab.
5. For the PROJECT, you will need to construct a (full-order) Luenberger observer for a linear system:
x = Ax + Bu
y = Cx
This knowledge will not be used on any exam. If it is used in HW, it is a very minor part of a HW.
6. We do not use much from undergrad control. Late in the course, during a two week period, we will
use transfer functions, transfer matrices, and Nyquist plots.
7. The enrollment this term is huge. I have never had more than 60 students in the course before.
With this many students, it is going to be really hard to get special help from me. I will do my
best, but no matter how much I may wish to help you, it will not possible to spend much time with
any one person. So, it is very important that you have adequate background to take the course.
I am not going to police your background. At the end of the term, if you say that you are failing
because you do not have adequate background, then I may be empathetic to your case, but I will
not be able to be sympathetic! That is a sad thing to say in writing!! I cannot just give you a
passing grade. You have to earn it.
8. The rst half of the term, I do lots of proofs in lecture. Then in the middle of the term, we do more
design. Then toward the end, there are a couple more hard things where proofs are required. I keep
the lectures at a high level, the HW at a medium high level, and the exams, while challenging, do
not require that you provide proofs. There will be Multiple Choice or T/F questions that test your
1
knowledge of the theory. There will also be work-out problems where you have to demonstrate the
ability to apply the concepts of the course to simple examples.
9. I think this is a great course. I welcome you to take it. HOWEVER, if you have not yet completed
the graduate linear systems course, you need to learn on your own the topics listed above. It is
NOT enough to be taking the course concurrently with EECS 562.