Part 
Teaching Format and Key
Resources 
Outline 
Lecture Meetings 
HW/Quiz 
Home Assignments 
Quizzes 
Relevant Literature 
Comments 
1 
Presentation
(2h) 
Introduction:
“Control Theory” defined. The various aspects of control are be outlined. 
1.1, 1.2 
 
 
 
[PerMar10] Ch1, Ch2, Ch3,
Ch11 [FraEmaPow10] Ch1 [Son91] Ch1 
Note: The “tutorial” class is taking place on
week 1!!! You
Tube Watt's fly ball governor 
2 
Lecture Notes + Board (4h) 
SISO Linear Systems and
Math Background: This is essentially a crash course covering the essentials
of an engineering “Signals and Systems” course as well as related
applied math background dealing with integral transforms, convolutions and
generalized functions. 
1.3, 1.4, 
2.4 (HW1), 
Example
solutions by students (as most things on this webpage – perhaps not
100% perfect – but very very good):


[FraEmaPow10] Ch3 [Eng05] Ch1, Ch2 [KwaSiv91] All book [NawOppWil97] All book [Cha10] All book [KamHec00] All book 

3 
Presentation (4h)

Elements of “Classic”
Engineering Control. The objectives facing control engineers are taught
together with an illustration of PID controllers as well as the Nyquist stability criterion. 
2.3, 
4.4 (HW2), 
HoaggBernsteinNonMinimumPhaseZero.pdf Example
solutions by students (as most things on this webpage – perhaps not
100% perfect – but very very good): 
[FraEmaPow10] [Eng05] [KwaSiv91] Ch11 [NawOppWil97] Ch11 [Cha10] Sec 6.3 [KamHec00] Ch10 


4 
Lecture Notes + Board (9h)

Linear StateSpace Systems
and Control. MIMO Linear Systems are studied together with controllability,
observability and their generalizations. State feedback controllers and the Luenberger observers are studied in depth. 
4.1, 4.2,
4.3, 
6.4 (HW3), 
HW3.pdf, due 10/9 Example
solutions by students (as most things on this webpage – perhaps not
100% perfect – but very very good):
HW4.pdf due 8/10 (Note: it is recommended to do HW5 first for
those who are doing Quiz 3). Example
solutions by students (as most things on this webpage – perhaps not
100% perfect – but very very good): 

[Fri86] Ch2, Ch3, Ch4, Ch5, Ch6, Ch7, Ch8 [Lue79] Ch 4, Ch 5, Ch 8 [AntMich07] All book 
Stephen Boyd's
Introduction to Linear Dynamical Systems Video Lectures are fun and useful
background 
5 
Board (3h) 
Lyapunov stability theory. This
unit deals with both the notion of linearization about an equilibrium point
and (equally or more important) with the notion of Lyapunov
functions. There is no “control” in this unit per say. 
7.1, 7.2,
7.3 
9.4
(Quiz3), 
Quiz 3 during first hour of 20/9. The best
practice for it is HW5!!! HW5.pdf, due 8/10 Example
solutions by students (as most things on this webpage – perhaps not
100% perfect – but very very good): 
[Lue79] Ch 9 [PolWil98] Ch7 Bruce Hajek's Notes(book)  see Section 6.9 for Foster Lyapunov of Markov Chains 


6 
Presentation (3h) Additional MPCLQR Slides by Erjen Lefeber: 
Linear Quadratic Regulator
(LQR) + LQMPC (Model Predictive Control). This unit only presents the
results of LQR optimal control problems (without proving). It then introduces
the notion of Model Predictive Control and focuses on stability results of
MPC problems based on LQR. 
8.1, 8.2,
8.3 
11.4 (HW6) 
HW6.pdf, due 22/10 
 
[Fri86] Ch9 [Ber00] [SivKwa72] [MooAnd89] 

7 
Board (3h) No one took photos during 9.3 
Dynamic Programming. The
HamiltonJacobiBellman PDE is derived and studied together with examples. 
9.1, 9.2,
9.3, 
None. 12.4 (HW7) 
HW7.pdf, due 9/11. 

[Ber00] [Kir70] Part II 
Richard Weber's
Optimization and Control Course (useful notes in pdf) 
8 
Board (3h) 
The Calculus of Variations
and Pontryagin’s Minimum Principle 
10.3, 
[You69] Vol II [Kir70] Part III [Mes09] All book 

9 
Board (2h) 
LQR proofs  Derivations of the LQR Riccati Results by means of both Dynamic Programming and Pontryagin. 
11.3, 
[Ber00] [SivKwa72] [MooAnd89] 


10 
Lecture Notes + Board (3h) 
Linear Quadratic Gaussian
(LQG) and Kalman Filtering 
12.2,
12.3, 
13.4
(Quiz4) 
Quiz 4 during first hour of 25/10. 
[Fri86] Ch10, Ch11 [HwaBrow97] [Ber00] [SivKwa72] [MooAnd89] 
Link to a
full course on this subject (and generalizations) by Nahum Shimkin 

11 
Presentation (2h) 
Summary and outlook to
further theory and practice 
13.2, 13.3 

Course
summary due 16/11 Some nice course summaries of
students: MitchGoodingSummary.pdf 

[PerMar10] 