Modular Credits: 4
Workload: 3-0-0-3-4
Pre-requisite(s): EE4302
or ME4246 (Applicable to undergraduate students only)
Preclusions(s): MCH5201, EE5101
Cross-listing(s): EE5101
Linear system theory is the core of modern control approaches, such as optimal,
robust, adaptive and multi-variable control. This module develops a solid
understanding of the fundamentals of linear systems analysis and design using
the state space approach. Topics covered include state space representation of
systems; solution of state equations; stability analysis using Lyapunov methods;
controllability and observability; linear state feedback design; asymptotic
observer and compensator design, decoupling and servo control. This module is a
must for higher degree students in control engineering, robotics or servo
engineering. It is also very useful for those who are interested in signal
processing and computer engineering.
|
No. of hours |
|
1. State-Space Description
State space representations of systems, transfer functions, solution
of state equation, transient response, stability of linear systems, Lyapunov
methods. |
8 hrs
|
2. System Analysis
Controllability, observability, duality, equivalent systems, system decomposition,
diagonal form, controllable and observable canonical forms, state space
realizations and minimal realizations. |
10 hrs
|
3. State Feedback Design
State variable feedback, pole placement for single and multivariable systems,
optimal control concept, solution of linear quadratic regulator, system
decoupling, direct transfer function design procedures. |
10 hrs
|
4. State Estimation and Servo Control
State observer, reduced order observers, combined observer-controller system,
integral control, asymptotic tracking and regulation, robust servo control
design. |
8 hrs
|
1. T Kailath, “Linear Systems”, Prentice-Hall, 1980.
2. K. Furuta, “State Variable Methods in Automatic Control”, John Wiley
& Sons, 1988.