| LEC # | TOPICS | KEY DATES |
|---|---|---|
| 1 | Introduction to dynamic systems and control, matrix algebra | |
| 2 | Least squares error solutions of overdetermined / underdetermined systems | |
| 3 | Matrix norms, SVD, matrix perturbations | Homework 1 due |
| 4 | Matrix perturbations | |
| 5 | State-space models, linearity and time invariance | Homework 2 due |
| 6 | Solutions of state-space models | |
| 7 | Similarity transformations, modes of LTI systems, Laplace transform, transfer functions | Homework 3 due |
| 8 | Stability, Lyapunov methods | |
| 9 | External I/O stability, storage functions | Homework 4 due |
| 10 | Interconnected systems, feedback, I/O stability | |
| 11 | System norms | Homework 5 due |
| 12 | Performance measures in feedback control | |
| 13 | Small gain theorem, stability robustness | Midterm exam (take-home) due 2 days after Lecture 13 |
| 14 | Stability robustness (MIMO) | Homework 6 due |
| 15 | Reachability | |
| 16 | Reachability: standard and canonical forms, modal tests | |
| 17 | Observability | Homework 7 due |
| 18 | Minimality, realization, Kalman decomposition, model reduction | |
| 19 | State feedback, observers, output feedback, MIMO poles and zeros | Homework 8 due |
| 20 | Minimality of interconnections, pole/zero cancellations | Homework 9 due |
| 21 | Parameterization of all stabilizing controllers | |
| 22 | Optimal control synthesis: problem setup | Homework 10 due |
| 23 | H2 optimization | |
| 24 | H∞ optimization | Homework 11 due |