Chapter 6
Linear Quadratic Optimal Control
6.1 Introduction
In previous lectures, we discussed the design of state feedback controllers using using eigenvalue (pole) placement algorithms. For single input systems, given a set of desired eigenvalues, the f
Chapter 2
Stability Concepts
In this chapter, we discuss two notions of stability, namely input/output (I/O) stability, and internal (or Lyapunov) stability. They are related, but not exactly the same. The latter is more of a statespace concept, whereas t
Chapter 7
Kalman Filter
In this chapter, we study Kalman Filtering, which is a celebrated "optimal" observer/filter/prediction design method. In many ways, Kalman filter is the dual of LQ control. We shall develop Kalman filter in this way. Recall that fo
Chapter 8
Internal Model Principle and Repetitive Control
In this chapter, we look at disturbance rejection and reference tracking in which the disturbances or reference signals have known structure - namely they can be thought of as being generated by an
Chapter 9
Reference Input Tracking: feedforward control
9.1 Introduction
In previous lectures, we have discussed control designs based on actual or observer estimated state feedback, eigenvalue (pole) assignments, as well as controllers based on internal
Chapter 1
Linear Dynamical Systems
1.1 System classifications and descriptions
A system is a collection of elements that interacts with its environment via a set of input variables u and output variables y. Systems can be classified in different ways.
Con
Department of Mechanical Engineering University of Minnesota ME8281 Advanced Control Systems Spring 2012 Prof. Perry Li Assignment #1. Assigned: Feburary 3, 2012 (Friday) Due: February 15, 2012 (Wednesday) 1. (Modeling Hydraulic Hybrid Vehicle) The hydrau
ME 8281 Advanced Control Systems Design Department of Mechanical Engineering University of Minnesota Spring 2012
Instructor: Perry Li Office: MechE 309 Email: perry-li@umn.edu Tel: 612-626-7815 Class schedule:WF 10:10-12:00 Office Hours: Tu 2:00-3:00pm (t