Control Parameterization and Graphical Control Synthesis

Prerequisites

Undergraduate Course in Linear Systems and Classical Control

Notes will be distributed.

DFT08: Feedback Control Theory by Doyle, Francis, and Tannenbaum, 2008. NY: Dover Publications.

Gene F. Franklin, J. David Powell, and Michael Workman. Digital Control of Dynamic Systems, 3rd Edition. Ellis-Kagle Press.
Oppenheim, Alan V., and Ronald W. Schafer. 2009. Discrete-Time Signal Processing. Prentice Hall.

Week 1: closed-loop stability
- Reading: DFT08 Chapter 3.1, 3.2
Week 2: Discretization
Week 3: principles of feedback design
Week 4: linearization
- Lecture: linearization notes, slides
- Presentation template: modeling, simulation, and analysis of practical systems
Week 5 and week 6: all-stabilizing control parameterization
- Reading: Chapter 5 DFT08
- HW 2
Week 7 and week 8: pseudo YK parameterization and Q design
- lecture:
  - intrinsic signal models
  - X. Chen, T. Jiang, M. Tomizuka (2015). Pseudo Youla-Kucera Parameterization with Control of the Waterbed Effect for Local Loop Shaping, Automatica 62, 177-183.
  - X. Chen, M. Tomizuka (2015). Overview and New Results in Disturbance Observer based Adaptive Vibration Rejection with Application to Advanced Manufacturing, International Journal of Adaptive Control and Signal Processing, 29, 1459-1474.
- Reading: - X. Chen, M. Tomizuka (2014). New Repetitive Control with Improved Steady-State Performance and Accelerated Transient, IEEE Transactions on Control Systems Technology, 22(2), 664-675.
- HW 3
Week 9: model inversion
Week 10: project
Exam week: project presentation

Last updated on Feb 8, 2022