At the end of this course, the students; 1) Will be able to model multivariable control systems. 2) Learn and apply state space design methods. 3) Learn and apply frequency domain design methods. 4) Will be able to implement optimal design for multivariable control systems. 5) Gain problem solving skills for multivariable control system problems. 6) Will be able to utilize the related software for multivariable control systems.
MODE OF DELIVERY
Face to face
PRE-REQUISITES OF THE COURSE
No
RECOMMENDED OPTIONAL PROGRAMME COMPONENT
None
COURSE DEFINITION
Multivariable system representations: SSD, TMD, MFD, PMD. Controllability and observability. Kalman decomposition. Polynomial matrices: irreducible MFD, gcrd, gcld. Wolovich structure theorem. State feedback. State observer. Decoupling. Smith-McMillan form. Multivariable poles and zeros. Internal stability. Optimal control.
COURSE CONTENTS
WEEK
TOPICS
1st Week
State space representation, Kalman decomposition
2nd Week
SSD design, observers, decoupling
3rd Week
MFD representation, realization
4th Week
Design in MFD
5th Week
PMD representation, Smith-McMillan format
6th Week
PMD: poles/zeros, closed loop stability
7th Week
Interior stability, Linear fractional transformation (LFT)
8th Week
Midterm Exam
9th Week
Dual coprime factorization
10th Week
Alternative realizations
11th Week
Optimal control, static optimal control, Dynamic optimal control
12th Week
LQR design
13th Week
Closed loop poles
14th Week
Frequency domain equations
RECOMENDED OR REQUIRED READING
1. Uraz, A., "Linear System Theory", Lecture Notes, 2003 2. Chen, C.T. "Linear System Theory and Design", Third Ed., Oxford, 1998
PLANNED LEARNING ACTIVITIES AND TEACHING METHODS
Lecture,Questions/Answers,Presentation
ASSESSMENT METHODS AND CRITERIA
Quantity
Percentage(%)
Mid-term
1
35
Assignment
1
5
Attendance
1
5
Other
1
10
Total(%)
55
Contribution of In-term Studies to Overall Grade(%)
55
Contribution of Final Examination to Overall Grade(%)
45
Total(%)
100
ECTS WORKLOAD
Activities
Number
Hours
Workload
Midterm exam
1
3
3
Preparation for Quiz
0
0
0
Individual or group work
14
8
112
Preparation for Final exam
1
40
40
Course hours
14
3
42
Preparation for Midterm exam
1
30
30
Laboratory (including preparation)
0
0
0
Final exam
1
3
3
Homework
2
35
70
Total Workload
300
Total Workload / 30
10
ECTS Credits of the Course
10
LANGUAGE OF INSTRUCTION
Turkish
WORK PLACEMENT(S)
No
KEY LEARNING OUTCOMES (KLO) / MATRIX OF LEARNING OUTCOMES (LO)
