MAE 434: Modern Control, Fall 2015

Course Information

Lectures: Tu,Th 1:30-2:50 pm, EQuad J-201.

Instructors:
Naomi Leonard
EQuad, D-234, x5129
naomi@princeton.edu
Office hours: Tu 3:00 - 4:30 pm
Biswadip (Biswa) Dey (Assistant Instuctor)
EQuad, D-309
biswadip@princeton.edu
Office hours: Tu and Wed 4:30 - 5:30 pm
Grading: Homework, 35%; Quiz 1, 15%; Quiz 2, 15%; Final project, 35%.
Quizes 1 and 2 will each be timed, open-book and take-home. Tentatively, the dates for the
quizzes will be as follows. Quiz 1 will be assigned on Tuesday, October 27, 2015 and due
on Thursday, October 29, 2015. Quiz 2 will be assigned on Tuesday December 15, 2015 and
due on Thursday December 17, 2015.
Policies:
Homework assignments will be due on Thursdays in class by 1:30 pm and not accepted
if late. You may turn in one homework late, but not later than 6 pm the day after it
is due.
You are welcome and encouraged to collaborate on the homework sets. However, please
turn in work that represents your own effort and understanding.
You may not collaborate on the quizzes.
For the project you will be required to turn in a 5 to 10 page written report and make a
presentation (10 minutes). A project plan (maximum 1 page) will be due on Thursday,
December 3, 2015. The report is due Tuesday, January 12, 2016 and the presentations
are tentatively scheduled for Thursday January 14, 2016.
References (on reserve in the Engineering Library):
1. Hespanha, J. P., Linear Systems Theory, Princeton University Press, 2009.
(Main text for the course).
2. Ansaklis, P.J. and Michel, A.N. Linear Systems, Birkhauser, 2006.
3. Dullerud and Paganini, A Course in Robust Control Theory: A Convex Approach,
Springer, 2000.

4. Anderson and Moore, Optimal Control: Linear Quadratic Methods, Prentice-Hall,

1990.
5. Belanger, Control Engineering: A Modern Approach, Saunders College Pub., 1995.
6. Doyle, Francis and Tannenbaum, Feedback Control Theory, MacMillan Pub., 1992. See
http://www.control.utoronto.ca/people/profs/francis/Homepage/Publications.html
7. Dorato, Abdallah and Cerone, Linear-Quadratic Control: An Introduction, Prentice
Hall, 1995.
8. Wilson J. Rugh, Linear System Theory, Prentice Hall, 1993.
9. Friedland, Control System Design: An Introduction to State-Space Methods, McGrawHill, 1986.
10. Kailath, Linear Systems, Prentice-Hall, 1980.
11. Maciejowski, Multivariable Feedback Design, Addison Wesley, 1989.
12. Boyd, Ghaoui, Feron, Balakrishnan, Linear Matrix Inequalities in Systems and Control
Theory, SIAM, 1994. See http://www.stanford.edu/boyd/lmibook/
13. Green and Limebeer, Linear Robust Control, Prentice-Hall, 1995.
14. Zhou, Doyle and Glover, Robust and Optimal Control, Prentice-Hall, 1996.
15. Bay, Fundamentals of Linear State Space Systems, McGraw-Hill, 1999.

Outline of Topics
1. State-space systems
2. Linearization (by approximation and by feedback)
3. Transfer functions and state-space systems
4. Solutions to linear systems (matrix exponentials)
5. Stability (Lyapunov stability, I-O stability)
6. Controllability and stabilizability
7. Stabilization with state feedback
8. Observability and detectability
9. State estimation and stabilization with output feedback

10. Minimal realizations

11. LQR/LQG optimal control
12. Additional advanced topics