Syllabus - UBC Mechanical Engineering

Instructor
MECH 468 Modern Control Engineering (3 credits)
Department of Mechanical Engineering, UBC
Second semester 2009/10, MWF: 9:00-9:50am
MCML (MacMillan) 260
Dr. Ryozo Nagamune, Assistant Professor
Email: nagamune@mech.ubc.ca
Office: Kaiser Building 3104, 2332 Main Mall, Phone: (604)827-4344
Office hours: TuTh 11am-noon (or by appointment)
Course description and goals
This course is an introductory course on linear control systems based on the state-space
models. The main goal of the course is to provide the students with basic tools in
modeling, analysis and design for control and estimation. The analysis in this course
includes stability, controllability, observability and realization and minimality of the
state-space model, while the design methods are divided into pole placement for state
feedback and observer design, and optimal methods such as linear quadratic regulator,
Kalman filter and linear quadratic Gaussian control. Students will also learn how to apply
the theory to engineering problems with Matlab. The course will cover both continuoustime
and discrete-time systems, as well as both time-invariant and time-varying systems.
Simple examples from mechanical and electrical engineering will be used to show the
applicability of the theory. This course will give the basic knowledge for more advanced
control courses, such as nonlinear control, robust control, optimal control, adaptive
control, digital control, sampled-data control, hybrid control, and system identification.
Course contents
• Modeling, state space model
• Mathematical background, linear algebra
• State-space solutions
• Stability
• Controllability
• Observability, Kalman decomposition
• Realization theory
• State feedback, pole placement, stabilizability
• Observer, detectability, observer based control
• Linear Quadratic Regulator (LQR)
• The Riccati equation, Algebraic Riccati Equation
• Kalman filter, Linear Quadratic Gaussian (LQG) control
No course textbook (Lecture slides will be provided.)

References (optional)
• Robert L. Williams II and Douglas A. Lawrence, ``Linear State-Space Control
Systems,’’ Wiley, 2007.
• Panos J. Antsaklis and Anthony N. Michel, ``A Linear Systems Primer,’’
Birkhauser, Boston, 2007. (Available online at UBC library website)
• Chi-Tsong Chen, ``Linear System Theory and Design’’ Oxford Univ, 1999.
• Brogan, William L,`` Modern Control Theory,’’ Prentice-Hall, 1991.
• Wilson J. Rugh, ``Linear System Theory (2nd Edition),’’ 1995.
• Torkel Glad and Lennart Ljung, ``Control Theory: Multivariable and Nonlinear
Methods,’’ Taylor & Francis, 2000.
• Dan Simon, `` Optimal State Estimation,’’ John Wiley \& Sons, 2006.
• R.F.Stengel, ``Optimal Control and Estimation,’’ Dover Publications, 1994
Homework
Five homework assignments, including Matlab-based computer exercises. A tentative
plan for homework is as follows:
1. Modeling and linear algebra
2. Stability, controllability and observability
3. Kalman decomposition and realization
4. State feedback and observer
5. LQR and Kalman filter
Exams: Mid-term and Final
Policies: Closed-book. Calculators are not allowed. Alternative exams can be arranged
ONLY for medical reasons and with doctor's notes. For other reasons, talk with the
instructor before the exam dates.
Grading scheme (tentative. The instructor reserves the right to change the scheme)
Homework (10%), Mid-term (20%), Final (70%).