Teaching

AME 455: Control Systems Design

Control Systems Textbook Image

Topics covered:

  • Mathematical modeling of dynamical systems
  • Hardware and software issues
  • Computer simulations
  • Classical control methods including transient response, steady-state errors, bode diagrams, root locus, design of closed loop control systems
  • Introduction to state feedback
  • Design and digital control.

Semesters taught: Fall 2021, Spring 2022, Spring 2023, Fall 2023

AME 556: Nonlinear and Optimal Control 

Nonlinear and Optimal Control Textbook

       Topics covered:

  • Review of stability of dynamical systems and concepts of linear control
  1. Lyapunov stability Theorem
  2. Control of linearized nonlinear systems
  3. State-space representation of dynamical systems
  4. State transition matrix
  5. Controllability and observability.
  • Unconstrained Optimal Control 
  1. Calculus of Variations
  2. General Continuous-Time Optimization Problem
  3. Continuous-Time Linear Quadratic Regulator
  4. Continuous-Time Linear Quadratic Tracking
  5. Discrete-Time Optimal Control.

  • Final-Time-Free and Constrained Input Control 

  1. Final-Time-Free Problems
  2. Minimum time Optimal Control Problem
  3. Minimum Energy Optimal Control Problem

  • Dynamic Programming 

  1. Bellman’s Principle of Optimality
  2. Discrete-Time Systems Problems
  3. Continuous-Time Systems Problems

  • Differential Game 

  1. Optimal Control Derived Using Pontryagin’s Minimum Principle and the Bellman Equation
  2. Two-player Zero-sum Games
  3. Multiplayer Non-zero-sum Games

  • Reinforcement Learning

  1. Reinforcement Learning
  2. Markov Decision Processes
  3. Policy Evaluation and Policy Improvement
  4. Temporal Difference Learning

Semesters taught: Fall 2022, Fall 2023