5B1823 Geometric control theory

Examiner and lecturer

Xiaoming Hu (hu@math.kth.se), rum 3712, Lindstedtsv. 25, tel. 790 7180.

Teaching assistant

Vanna Fanizza (vanna@math.kth.se), rum 3738, Lindstedtsv. 25, tel. 790 7132.

Course contents

The goal of the course is to give students good knowledge about the fundamental results in the geometric control theory.

Course material

Course requirements

There are three homework sets that must be completed. The homework questions will be made available to the students around two weeks before the deadline. Successful completion of the homework sets (60% or better) gives grade 3. A written exam (date to be decided) is required for a higher grade. If you fail one set of the homework, you can still get a grade 3 by obtaining at least 15 points out of 25 points in the final exam.

Homework 2006

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.

For old homework and exercise notes (for reference only), please visit here

Written exam

An optional written exam (for grade higher than 3) will be held on December 15 2006, 14:00-19:00, in D32. This will be an open-book exam. The exam will consist of five problems that give maximal 25 points. These problems will be similar in type to those in the homeworks and in the exercises. 22 points will guarantee a grade five and 18 will guarantee a grade four. An old exam and answers can be obtained at Elevexpeditionen, or from the teaching assistant.

Preliminary schedule for 2006/2007

Type Day Date Time Hall Topic
F1.Wed 25/10 15-17 E32 Introduction
F2.Thu 26/10 15-17 E36 Invariant subspaces
F3.Fri 27/10 13-15 V12 Invariant subspaces (cont.)
1.Mon 30/10 15-17 E34 Linear algebra, invariant subspaces
F4.Tue 31/10 13-15 E53 Disturbance decoupling
F5.Thu 2/11 13-15 E34 Disturbance decoupling, and Zeros
F6.Fri 3/11 13-15 D35 Zeros and zero dynamics (cont.)
F7.Mon 6/11 10-12 D35 Zero dynamics and high gain control
2.Tue 7/11 13-15 E36 Reachability subspaces, V*-algorithm, zero dynamics
F8.Thu 9/11 13-15 E36 Noninteracting control and tracking
F9. Fri 10/11 15-17 D35 Input-output behavior
3.Mon 13/11 8-10 D35 Applications of zero dynamics
F10.Tue 14/11 13-15 D35 Input-output behavior and Output regulation
F11.Thu 16/11 13-15 D35 Output regulation (cont.)
4.Fri 17/11 15-17 D35 Sylvester equation, Output tracking input, Output regulation
F12.Mon 20/11 8-10 D35 Nonlinear systems: examples, math preparation
F13.Tue 21/11 13-15 D35 Nonlinear systems: controllability, stability
5.Thu 23/11 13-15 D35 Nonlinear systems
F14.Fri 24/11 15-17 D35 Nonlinear systems: steady state response
F15.Mon 27/11 8-10 D35 Nonlinear systems: zero dynamics and applications
6.Tue 28/11 13-15 E34 Nonlinear control problems
F16.Thu 30/11 13-15 D35 Nonlinear control systems: zero dynamics and applications
F17.Fri 1/12 15-17 D35 Robotic systems
F18.Tue 5/12 13-15 E34 Robotic systems
7.Thu 7/12 13-15 D35 Nonlinear and robotic problems


Course information on www: http://www.math.kth.se/optsyst/studinfo/5B1823/5B1823.html.
5B1823 Geometric control theory
Last modified: September 26, 2006 Xiaoming Hu, hu@math.kth.se.