M.E. 530.675 Observer Theory and Application 

Organizational meeting: 2:00PM Friday January 31, 2003, 120 Latrobe Hall.

This course will be first offered in Spring 2003.

Instructors:

Professor Louis L. Whitcomb
Department of Mechanical Engineering
G.W.C. Whiting School of Engineering
The Johns Hopkins University
office: 123 Latrobe Hall, phone: 410-516-6724
Course Homepage: http://robotics.me.jhu.edu/~llw/courses/me530675
email: llw@jhu.edu
Office Hours: TBA.

Lectures:

Thursday 2-3:30PM, Friday 3:30PM.
Room 120 Latrobe Hall.  
Note: we will reschedule the lectures to avoid conflict with the weekly ME Department Seminar.
 

Course Description

530.675 Observer Theory and Application

This course addresses in state estimation for finite dimensional linear and nonlinear dynamical systems. Topics include classical observer theory for linear dynamical systems and Kalman filters as well as more recent developments in state estimation techniques for nonlinear dynamical systems. Applications to state estimation of physical systems. 

Prerequisites: State-space linear control theory, probability and stochastic processes, linear algebra, and differential equations.

3 Credits.  First offered in Spring 2003

Syllabus 

This course will be taught in a seminar format.  The content will depend somewhat on the students who comprise the class. I anticipate the course to consist of four basic modules as follows:

  1. Observers for deterministic linear time-invariant systems. Open and closed loop, full state, the observer design equaituons, reduced order, design considerations.
  2. Observers for linear time-invariant systems with noise.  Wiener filter, Kalman filter.
  3. Observers for nonlinear systems. High gain method, some special cases such as quadratic systems, linear approximation methods, contraction mapping methods. 
  4. Student paper or project presentations.

References

  1. Karl J. Astrom. Adaptive Control. Addison-Wesley, 1989.
  2. William E. Boyce and Richard C. DiPrima. Elementary Differential Equations and Boundary Value Problems. Wiley, New York, 1977.
  3. Gene F. Franklin, J. David Powell, and Abbas Emami-Naeini. Feedback Control of Dynamical Systems. Addison-Wesley, New York, 1991. Second Edition.
  4. Irving M. Gottleib. Electric Motors and Control Techniques. Tab Books, McGraw-Hill, New York, 1994.
  5. Alexander Graham. Kronecker Products and Matrix Calculus With Applications. Halsted Press,John Wiley and Sons, NY, 1981.
  6. Paul R. Halmos. Finite-Dimensional Vector Spaces. Springer-Verlag, New York, 1958. ISBN: 0-387-90093-4.
  7. P. A. Ioannou and J. Sun. Robust Adaptive Control. Prentice-Hall, New Jersey, 1996.
  8. Thomas Kailath. Linear Systems. Prentics Hall, New Jersey, 1980.
  9. H. K. Khalil. Nonlinear Systems. Macmillan, New York, 1992.
  10. Erwin Kreyszig. Advanced Engineering Mathematics. Wiley, NewYork, 1993.
  11. K.S. Narendra and A. Annaswamy. Stable Adaptive Systems. Prentice-Hall, NY, 1988.
  12. Antony J. Pettofrezzo. Matricies and Transformations. Dover, New York, 1966.
  13. W. H. Press, B. P. Flannery, S.A.Teukolsky, and W. T. Vetterling. Numerical Recipes in C. Cambridge University Press, Cambridge, UK, 1988.
  14. Wilson J. Rugh. Linear System Theory. Prentice-Hall, New Jersey, 1995. (2nd Edition).
  15. Shankar Sastry and Marc Bodson. Adaptive Control: Stability, Convergence, and Robustness. Prentice-Hall, 1989.
  16. J.J.E. Slotine. Applied Nonlinear Control. Prentice Hall, New Jersey, 1991.
  17. Karl R. Stromberg. An Introduction to Classical Real Ananysis. Wadsworth, Inc., Belmont, California, 1981.
  18. M. Vidyasagar. Nonlinear Systems Analysis. Prentice-Hall, New Jersey, 1993. (Second Edition).

 

This page was updated on Friday, January 31, 2003 01:43:00 PM

Hit Counter