## ·        The teaching format varies based on the material and the speed and depth in which it is to be covered.

 Part Teaching Format and Key Resources Outline Lecture Meetings HW/Quiz Meetings Home Assignments Quizzes Relevant Literature Comments and Additional Resources 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!!! 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, 2.1, 2.2 2.4 (HW1), 3.4 (HW1) Example solutions by students (as most things on this web-page – perhaps not 100% perfect – but very very good): Quiz1.pdf [FraEmaPow10] Ch3 [Eng05] Ch1, Ch2 [KwaSiv91] All book [NawOppWil97] All book [Cha10] All book [KamHec00] All book 3 Presentation (4h) Photos_2_3.pdf Photos_3_1and3_2.pdf Photos_3_3.pdf NyquistExample.nb 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, 3.1, 3.2, 3.3, 4.4 (HW2), 5.4 (Quiz1) Example solutions by students (as most things on this web-page – 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 State-Space 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, 5.1, 5.2, 5.3, 6.1, 6.2, 6.3 6.4 (HW3), 7.4 (Quiz2), 8.4 (HW4/HW5), HW3.pdf, due 10/9   Example solutions by students (as most things on this web-page – 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 web-page – 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 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), 10.4 (HW4/HW5) 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 web-page – perhaps not 100% perfect – but very very good): [Lue79] Ch 9 [PolWil98] Ch7 6 Presentation (3h) Additional MPC-LQR Slides by Erjen Lefeber: Linear Quadratic Regulator (LQR) + LQ-MPC (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 Hamilton-Jacobi-Bellman 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 8 Board (3h) The Calculus of Variations and Pontryagin’s Minimum Principle 10.3, 11.1,11.2 [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, 12.1 [Ber00] [SivKwa72] [MooAnd89] 10 Lecture Notes + Board (3h) Linear Quadratic Gaussian (LQG) and Kalman Filtering 12.2, 12.3, 13.1 13.4 (Quiz4) Quiz 4 during first hour of 25/10. [Fri86] Ch10, Ch11 [HwaBrow97] [Ber00] [SivKwa72] [MooAnd89] 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: [PerMar10]