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경북대학교
허성호

페이스북 트위터 카카오톡 네이버밴드 링크복사

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공학 >전기ㆍ전자 >전자공학
강의학기

2019년 2학기

조회수

1,389

강의계획서

The objective of this course is to provide the students with the basics of linear systems theory and modern control engineering.

The topics covered include linear algebra, state-space representations, stability analysis, controllability/observability, and state feedback control and estimations.

We will also investigate the application of state-space methods and state feedback control to various engineering systems.

차시별 강의

1.	1강. Introduction & Mathematical Models of Systems	1. Lecture 1_1 : Introduction - Professor Career - Overview of Control & Linear Systems - Notice to Students - Assignments and Grading Criteria
	1강. Introduction & Mathematical Models of Systems	2. Lecture 1_2 : Differential Equations of Physical Systems - Differential Equation of Spring Mass Damper - Electrical RLC Circuit - Kirchoff’s Current Law
2.	2강. Mathematical Models of Systems	1. Lecture 2_1 : Linear Approximations of Physical Systems - Characteristics of Linear Systems - The Taylor Series Expansion about the Operating Point - Second-order LTI Differential equation - Laplace Transform & Inverse Laplace Transform - Second Order Differential Equation
	2강. Mathematical Models of Systems	2. Lecture 2_2 : The Transfer Function of Linear Systems - The Transfer Function of Linear Systems - Block Diagram Models - Summary
3.	3강. Mathematical Descriptions of Systems	1. Lecture 3_1: state Space Form - Advantages of the state-space form - The state-space approach 2. Lecture 3_2: Time-domain analysis - Lack of Time domain Analysis - The frequency-domain techniques 3. Lecture 3_3: An engineering system - Dynamic, Causal,Finite-dimensional, Continuous-time - Linear Systems - Linear Time-Invariant (LTI) Systems - State Space Representation - Linearisation
4.	4강. Mathematical Descriptions of Systems & Linear Algebra	1. Lecture 4_1: Mathematical Descriptions of Systems Examples - Orbital Movement of a Satellite - An RLC Circuit - Discrete-time feedback system - Review and Summary 2. Lecture 4_2: Linear Algebra - Introduction - Basis - Theorem - Summary
5.	5강. State-Space Solutions and Realisations	1. Lecture 5_1: Solution of LTI State-Space Equations - State-Space Equation Solution of Continuous-time systems - State-Space Equation Solution of Discrete-time systems - Examples - Equivalent state equations 2. Lecture 5_2: Realisations - Controllable canonical form - Observable canonical form - Minimal realisation - SIMO, MIMO, and Multivariable System - Examples
6.	6강. Stability	1. Introduction - Notion of Stability - Example: Unstable System - Classification of Stability 2. Input-Output Stability of LTI Systems - Theorem of BIBO Stability - BIBO Stability of State Equations 3. Discrete-Time Case - BIBO Stability of Discrete-Time Systems 4. Internal Stability - Definition of Internal Stability 5. Lyapunov Theorem - Positive (Semi-) Definite Matrix - Lyapunov Equation
7.	7강. Controllability and Observability	1. Introduction 2. Controllability - Controllability and Algebraic Equivalence - Controllability Gramian 3. Observability - Luenberger Observer - Analysis with the output solution - Observability Gramian - Duality of Controllability and Observability - Minimum Realisation 4. Canonical Decomposition - Review: Canonical Form - Controllable/Uncontrollable Decomposition
8.	8강. Controllability and Observability	1. Observable/Unobservable Decomposition 2. Kalman Decomposition - Example 3. Controllability/Observability for Jordan blocks 3. Discrete-Time State-Space Equations 4. Controllability after sampling - Example 5. State Feedback and State Estimators - Introduction - State Feedback - Regulation and Tracking - State Estimator - Feedback from Estimated States
9.	9강. State Feedback and State Estimators	1. Regulation and Tracking with Robustness - Regulation and Tracking - Example - Feedforward Pre-compensation - Robust Tracking: Integral Action - State Feedback with Integral Action - Reduction of Block Diagram 2. State Feedback with State Estimation - Notion of State Estimation - Open-loop State Observer - Feedback Observer - Structure of a State Observer - Stability of the Observer - Example
10.	10강. Introduction to Optimal Control and Estimation	1. Introduction 2. The basic optimal control problem - Optimal Control - The Dynamic System to be controlled - System Constraints - The Task to be performed - The Performance Criterion 3. Optimal linear quadratic state feedback - Optimal Quadratic Control - Review: Positive (Semi-)Definite Matrices - Optimal LQ State Feedback (LQR) - Tuning Parameters - Example (LQR design)