Advanced Control Systems (EE 60655)

University of Notre Dame


Spring 2022 - Enroll in EE60655 section 01 - TBA

Course Vault
Description: This is graduate level course introducing advanced concepts used to regulate the behavior of linear and nonlinear dynamical processes about a fixed operating point. First part of course examines linear control concepts including classical loopshaping, linear quadratic Gaussian (LQG) control, and robust H-infinity controller design. Second half of the course examines regulation of nonlinear dynamical systems including feedback linearization, recursive constructive control (backstepping), passivity based control and energy-shaping methods in passivity based control. Prerequisites for this course are graduate level course work in linear systems theory and random processes.
Topics - Part 1 - Linear Control Systems (13 lectures)
  1. Review of Linear Systems Theory
  2. Linear Quadratic Regulator (LQR)
  3. Kalman Filter and LQG Control3
  4. Classical SISO Controller Design
  5. Loop shaping for Robust Control Systems
  6. H-infinity Control of Generalized Regulator
  7. Design of Robust H-infinity Control Systems (Midterm)
Topics - Part 2 - Nonlinear Control Systems (14 lectures)
  1. Advanced Stability Theory
  2. Feedback Linearization
  3. Affine Nonlinear Control Systems
  4. Recursive Constructive Control
  5. Passivity Based Control
  6. Energy-shaped Passivity Based Control, (Final)
Grading: Homework 30% - Midterm Exams (1) 30% - Final Exam 40%
Instructor: Michael Lemmon, Dept. of Electrical Engineering, University of Notre Dame, Fitzpatrick 264, lemmon at nd.edu
Textbook: Lecture Notes (see vault)