ECE410H1

Linear Control Systems

State space analysis of linear systems, the matrix exponential, linearization of nonlinear systems. Structural properties of linear systems: stability, controllability, observability, stabilizability, and detectability. Pole assignment using state feedback, state estimation using observers, full-order and reduced-order observer design, design of feedback compensators using the separation principle, control design for tracking. Control design based on optimization, linear quadratic optimal control, the algebraic Riccati equation. Laboratory experiments include computer-aided design using MATLAB and the control of an inverted pendulum on a cart.