KTH /
Engineering Science
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Mathematics
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Optimization and Systems Theory
SF2842 Geometric Control Theory
Examiner and lecturer
Xiaoming Hu
(hu@math.kth.se),
Room 3712, Lindstedtsv. 25, tel. 790 7180.
Teaching assistant
Maja Karasalo
(karasalo@math.kth.se),
Lindstedtsv. 25, tel. 790 8433.
Course contents
The goal of the course is to give students good knowledge about the
fundamental results in the geometric control theory. Here is an
introduction to the course.
Course material
- X. Hu, A. Lindquist et al, Geometric Control Theory,
lecture notes, KTH, 2007, will be on sale at "Studentexpeditionen".
You can also download it here:
Table of contents, Chapter one, Chapter two, Chapter three, Chapter four, Chapter five
Chapter six, Chapter seven, Chapter eight, Chapter nine,
Appendix and index
- Exercise notes:
Exercise 1, Exercise
2, Exercise 3, Exercise 4, Exercise 5, Exercise 6
Course requirements
There are three homework sets that must be completed. The homework
questions will be made available to the
students around ten days before the deadline. Successful
completion of the homework sets (better than 60% or better than 80%)
gives grade E or D. A
written exam is required for a
grade higher than D. 43 points out of 50 points will guarantee an A.
If you fail one set of the homework, you can still get a grade E by
obtaining at least 22 points out of 50 points in the final exam.
Homework
- pdf (Due November 18, 2009)
- pdf (Due December 1, 2009)
- pdf (Due December 15, 2009)
Note: The date in parentheses is the last day
(before 5 pm) for handing in the
written solutions. The homework questions will be made available online
about ten days before the deadline.
Some old homework can be downloaded here: Homework 1, Homework 2,
and Homework 3.
Written exam
An optional written exam (for grade higher than D) will be held on
December 18, 2009, 14:00-19:00.
This will be an
open-book exam. The exam will consist of five problems that give
maximal 50 points. These problems will be similar in type to those in
the homeworks and in the exercises. 43 points will guarantee a grade
A, 37 a grade B and 31 a grade C. Here is an example of exam and solution.
Schedule for 2009
F=Lecture, Ö=Exercise
| Type | Day | Date | Time | Hall | Topic
|
|---|
| F1. | Wed | 28/10 | 15-17 | D33
| Introduction
| | F2. | Thu | 29/10 | 15-17 | D33
| Invariant subspaces
| | F3. | Fri | 30/10 | 10-12 | D42
| Invariant subspaces (cont.)
| | F4. | Tue | 3/11 | 15-17 | D42
| Disturbance decoupling
| | Ö1. | Thu | 5/11 | 13-15 | D33
| Linear algebra, invariant subspaces
| | F5. | Fri | 6/11 | 13-15 | D33
| Disturbance decoupling, and Zeros
| | F6. | Tue | 10/11 | 15-17 | E33
| Zeros and zero dynamics (cont.)
| | Ö2. | Wed | 11/11 | 10-12 | E34
| Reachability subspaces, V*-algorithm, zero dynamics
| | F7. | Thu | 12/11 | 13-15 | D33
| Zero dynamics and high gain control
| | F8. | Fri | 13/11 | 13-15 | D33
| Noninteracting control and tracking
| | F9. | Tue | 17/11 | 15-17 | E33
| Input-output behavior
| | F10. | Wed | 18/11 | 08-10 | E34
| Input-output behavior and Output regulation
| | F11. | Thu | 19/11 | 13-15 | D33
| Output regulation (cont.)
| | Ö3. | Fri | 20/11 | 13-15 | D33
| Applications of zero dynamics
| | F12. | Tue | 24/11 | 15-17 | E33
| Nonlinear systems: examples, math preparation
| | Ö4. | Wed | 25/11 | 15-17 | D33
| Sylvester equation, Output tracking input, Output regulation
| | F13. | Thu | 26/11 | 13-15 | D33
| Nonlinear systems: controllability, stability
| | F14. | Fri | 27/11 | 13-15 | D33
| Nonlinear systems: steady state response
| | Ö5. | Tue | 1/12 | 15-17 | E33
| Nonlinear systems
| | F15. | Wed | 2/12 | 15-17 | D33
| Center manifold and normal form
| | F16. | Thu | 3/12 | 13-15 | D33
| Nonlinear systems: zero dynamics and applications
| | F17. | Fri | 4/12 | 10-12 | K52
| Exact linearization and Consensus problem
| | F18. | Tue | 8/12 | 15-17 | E33
| Robotic systems
| | Ö6. | Wed | 9/12 | 8-10 | D33
| Nonlinear control problems
|
|
