KTH /
Engineering Science
/
Mathematics
/
Optimization and Systems Theory
SF2842 Geometric Control Theory
Examiner and lecturer
Xiaoming Hu
(hu@math.kth.se),
Room 3532, Lindstedtsv. 25, tel. 790 7180.
Teaching assistant
Silun Zhang
(silunz@math.kth.se),
Lindstedtsv. 25, tel. 790 7132.
Course registration
Important! pleae read here for information on course registration and
exam application.
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, 2012, can be downloaded 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
- More information can be found here
Course requirements
The course requirements consist of an obligatory final written
examination. There are also three homework sets we strongly encourage
you to do. All these optional activities will not only give you bonus
credits in the examination, but also help you understand the course
material better.
Homework
Each homework set consists of not more than five problems. Each successfully completed
homework set gives you maximally 5 points for
the exam. The exact requirements will be posted on each separate
homework set. The homework sets will be posted roughly ten days before
the deadline on the course homepage.
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.
2016 Homework and solution:
Written exam
Written exam has been compulsory from V16.
This is an open book exam and you may bring the lecture notes, the
exercise notes, your own classnotes and Beta
Mathematics Handbook (or any equivalent handbook). The exam will
consist of five problems that give maximally 100 points. These
problems will be similar to those in the homework assignments and the
tutorial exercises. The preliminary grade levels are distributed
according to the following rule, where the total score is the sum of
your exam score and maximally fifteen bonus points from the homework
assignments (max credit is 115
points). These grade limits can only be modified to your advantage.
| Total credit (points) | Grade
|
|---|
| >90 | A
| | 76-90 | B
| | 61-75 | C
| | 50-60 | D
| | 45-49 | E
| | 41-44 | FX
|
The grade FX means that you are allowed to make an appeal, see below.
The first exam will take place on March 15, 2017 at 08:00-13:00.
Solutions to exam of March 15, 2017 can be found here.
Appeal
If your total score (exam score + maximum 15 bonus points from the
homework assignments) is in the range 41-44
points then you are allowed to do a complementary examination for
grade E. In the complementary examination you will be asked to solve
two problems on your own. The solutions should be handed in to the
examiner in written form and you must be able to defend your solutions
in an oral examination. Contact the examiner no later than three weeks
after the final exam if you want to do a complementary exam.
Course evaluation
All the students are encouraged to answer the questionnaire on KTH Social.
Preliminary Schedule for 2017
F=Lecture, E=Exercise
| Type | Day | Date | Time | Hall | Topic
|
|---|
| F1. | Tue | 17/01 | 13-15 | D41
| Introduction
| | F2. | Wed | 18/01 | 13-15 | E53
| Invariant subspaces
| | F3. | Thu | 19/01 | 10-12 | D34
| Invariant subspaces (cont.)
| | E1. | Mon | 23/01 | 15-17 | D32
| Linear algebra, invariant subspaces
| | F4. | Tue | 24/01 | 13-15 | D32
| Disturbance decoupling
| | F5. | Wed | 25/01 | 13-15 | L21
| Disturbance decoupling, and Zeros
| | F6. | Thu | 26/01 | 10-12 | E31
| Zeros and zero dynamics (cont.)
| | E2. | Mon | 30/01 | 15-17 | D32
| Reachability subspaces, V*-algorithm, zero dynamics
| | F7. | Wed | 1/02 | 10-12 | D42
| Zero dynamics and high gain control
| | F8. | Thu | 2/02 | 10-12 | D32
| Noninteracting control and tracking
| | F9. | Mon | 6/02 | 15-17 | L21
| Input-output behavior
| | E3. | Tue | 7/02 | 13-15 | E53
| Applications of zero dynamics
| | F10. | Wed | 8/02 | 13-15 | E33
| Input-output behavior and Output regulation
| | F11. | Thu | 9/02 | 10-12 | E35
| Output regulation (cont.)
| | E4. | Mon | 13/02 | 15-17 | E31
| Sylvester equation, Output tracking input, Output regulation
| | F12. | Wed | 15/02 | 13-15 | D41
| Nonlinear systems: examples, math preparation
| | F13. | Thu | 16/02 | 10-12 | E31
| Nonlinear systems: controllability, stability
| | F14. | Mon | 20/02 | 15-17 | D32
| Nonlinear systems: steady state response
| | F15. | Tue | 21/02 | 13-15 | L22
| Center manifold and normal form
| | E5. | Wed | 22/02 | 13-15 | D41
| Nonlinear systems
| | F16. | Thu | 23/02 | 10-12 | E32
| Nonlinear systems: zero dynamics and applications
| | F17. | Mon | 27/02 | 15-17 | D32
| Exact linearization and Consensus problem
| | F18. | Wed | 1/03 | 13-15 | D41
| Multi-agent systems
| | E6. | Thu | 2/03 | 10-12 | M31
| Nonlinear control and multi-agent systems
|
Welcome!
|
