Instructor

• Yuanyuan Shi, yyshi@eng.ucsd.edu

Teaching Assistant

• Alakh Desai, ahdesai@eng.ucsd.edu

Course Syllabus

• This course provides an introduction to systems and control in physical, biological, engineering, information, financial, and social sciences, etc. Key themes include linear system modeling and time-domain state-space analysis, stability, observability, state/output feedback controller, reference tracking, etc. It includes both the practical and theoretical aspects of the topic.

Topics Include

• Review of Linear Algebra and ODE

• System Modeling

• Linearization and Linear Time-Invariant Systems

• Linear System Stability

• Reachability

• Eigenvalue Placement

• State Feedback Control

• Observability and State Estimation

• Output Feedback Control

• Optimal Control: Linear Quadratic Regulator

• (Stretch) Reinforcement Learning

Lectures

• Lecture 1: Introduction and Course Logistics [Lecture Note]

• Lecture 2: Linear Algebra and ODEs review I [Lecture Note]

• Lecture 3: Linear Algebra and ODEs review II [Lecture Note]

• Lecture 4: System Modeling I [Lecture Note]

• Lecture 5: System Modeling II  [Lecture Note]

• Lecture 6: Dynamic Behavior [Lecture Note]

• Lecture 7: Linearization [Lecture Note]

• Lecture 8: Linear Time-Invariant Systems and Stability [Lecture Note]

• Lecture 9: Midterm Review

• Lecture 10: Matrix Exponential [Lecture Note]

• Lecture 11: Reachability [Lecture Note]

• Lecture 12: Eigenvalue Placement [Lecture Note]

• Lecture 13: Linear Quadratic Regulator (LQR) [Lecture Note]

• Lecture 14: Observability and State Estimation [Lecture Note]

• Lecture 15: Output Feedback Control [Lecture Note]

• Lecture 16: Kalman Filter and LQG [Lecture Note]

• Lecture 17: Reinforcement Learning I [Lecture Note]

• Lecture 18: Reinforcement Learning II [Lecture Note]

• Lecture 19: PID Control [Lecture Note]

• Lecture 20: Final Exam Review [Lecture Note]

Course Textbook

Karl J. Astrom and Richard M. Murray, Feedback Systems: An introduction for Scientists and Engineers (Second Edition), Princeton University Press. Available at: https://fbswiki.org/wiki/index.php/Feedback_Systems:_An_Introduction_for_Scientists_and_Engineers

Acknowledgement: much of the class material is based on Prof. Na Li at Harvard University and her class on ES 155: Systems and Control; and Prof. Richard Murray at Caltech and his course on CDS 101/110 Introduction to Control Systems.