5B1823

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

X. Hu, A. Lindquist et al, Geometric Control Theory, lecture notes, KTH, 2006, will be on sale at "Studentexpeditionen".
You can also download 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, Exercise 7

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

Homework 1: pdf (Due November 15, 2006)
Homework 2: pdf (Due November 29, 2006)
Homework 3: pdf (Due December 8, 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.)
Ö1.	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
Ö2.	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
Ö3.	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.)
Ö4.	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
Ö5.	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
Ö6.	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
Ö7.	Thu	7/12	13-15	D35	Nonlinear and robotic problems

Welcome!

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.