520.454 - Control System Design

520.454 Control Systems Design

Department of Electrical and Computer Engineering
Johns Hopkins University
Spring 2009

General Information

Personnel: Pablo A. Iglesias, 226A Barton Hall. pi@jhu.edu
Office Hours: T3-5, or by appointment.
Prerequisites: Control Systems, 520.353
Text: Franklin, Powell, Emami-Naeini (recommended, but not required)
Grading information: Homework (25%), Project (25%), Final (50%)
Project Handouts: (new)

Take a look at:
http://jvc.sagepub.com/cgi/reprint/9/7/863
http://hpgavin.pratt.duke.edu/GantryCrane/GantryCrane.html

Problem Set Assignments (and solutions):

Problem Set #0 (Due Monday, February 2, 2009. In class)
Problem Set #1 (Due Friday, February 13, 2009. In class) Solutions.
Problem Set #2 (Due Monday, February 23, 2009. In class) Solutions.
Problem Set #3 (Due Wednesday, March 4, 2009. In class) Solutions.
Problem Set #4 (Due Wednesday, March 11, 2009. In class.) (Solution, hw4_1.m, hw4_2.m, helicopter.mdl, helicopter_observer.mdl, hw4_3.m)
Problem Set #5 (Due Wednesday, March 25, 2009. In class.) Solutions.
Problem Set #6 (Due Wednesday, April 1, 2009. In class.) Solutions.
Problem Set #7 (Due Wednesday, April 8, 2009. In class.) Solutions.

Old Exams:

00 Final Exam (PDF) 01 Final Exam (PDF)
02 Final Exam (PDF) 03 Final Exam (PDF)
04 Final Exam (PDF) 05 Final Exam (PDF) [These two are missing, not sure where I have copies]
08 Final Exam (PDF)

Frequently asked questions. None yet.
Handout on Linearization
Handout on Controllability
Handout on Linear quadratic regulator
Ethics The strength of the university depends on academic and personal integrity. In this course, you must be honest and truthful. Ethical violations include cheating on exams, plagiarism, reuse of assignments, improper use of the Internet and electronic devices, unauthorized collaboration, alteration of graded assignments, forgery and falsification, lying, facilitating academic dishonesty, and unfair competition. In addition, the specific ethics guidelines for this course are: (1) Homework assignments and exams are individual efforts. Do not discuss these problems amongst you. (2) Projects are group efforts. You are all responsible for the group work. Report any violations you witness to the instructor. You may consult the associate dean of students and/or the chairman of the Ethics Board beforehand. See the guide on "Academic Ethics for Undergraduates" and the Ethics Board web site ( http://ethics.jhu.edu) for more information.

Tentative Syllabus/Calendar: (I will adjust the schedule as I have a better idea of how the lectures go; updated 03/11/2009.)

Week 1

01/26/09: 1. Introduction. Open-loop vs. closed-loop control.

01/28/09: Snow day; no class.

01/30/09: No class (at this rate, we’re never going to finish!)

Week 2

02/02/09: 2. External vs. internal stability. PS0 Due.

02/04/09: 3. Review;

02/06/09: 4. Review; Performance specs. Transient specs (rise, peak, settling times; overshoot).

Week 3

02/09/09: 5. Performance specs. Steady-state specs.

02/11/09: 6. Internal model principle.

02/13/09: 7. Pole placement using polynomial methods. PS1 Due.

Week 4

02/16/09: 8. Sylvester's theorem.

02/18/09: 9. Incorporating integral feedback into the pole placement algorithm.

02/20/09: 10. Simulink/Matlab demonstration (in Barton 123).

Week 5

02/23/09: 11. Pole placement using state feedback. Controllable canonical form. Look at the controllability handout. PS2 Due

02/25/09: 12. Ackermann's formula.

02/27/09: 13. Tracking in state-space systems. Precompensators. Integral.

Week 6

03/02/09: 14. Observers.

03/04/09: 15. Reduced order observers. PS3 Due

03/06/09: 16. LQR. Motivation for F and P.

Week 7

03/09/09: 17. Show that A+BF is stable; resulting controller is optimal.

03/11/09: 18. LQR example. PS4 Due

03/13/09: 19. Optimal observer.

Spring Break Week

03/16/08-03/20/08: No classes; Spring Break.

Week 8

03/23/08: 20. Frequency domain design. Loop shaping.

03/25/08: 21. Frequency domain design. Bode's gain phase relationship. PS5 Due

03/27/08: 22. Implementing controllers.

Week 9

03/30/08: 23. Frequency domain design.

04/01/08: 24. Discrete-time Z transform. PS6 Due

04/03/08: 25. No class. Take a look at the project handouts above.

Week 10

04/06/08: 26: Discrete-time controllers

04/06/08: 27-29. Project Week 1

04/08/08: 30: Discrete-time controllers. PS7 Due

Week 11

04/13/08: 31-33. Project Week 2

Week 12

04/20/08: 34-36. Project Week 3

Week 13

04/27/08: 37-39. Project Week 4

05/01/08: Last day of classes; Project report due.

Final exam

Friday, May 8^th, 9-12; location to be announced.

Last updated: 02/23/2009

Department of Electrical and Computer Engineering Johns Hopkins University Spring 2009

Department of Electrical and Computer Engineering
Johns Hopkins University
Spring 2009