ME233 Advanced Control Systems II, UC Berkeley, Spring 2014

ME233 discusses advanced control metholodigies and their applications to engineering systems. Metholodigies include but are not limited to: Linear Quadratic Optimal Control, Kalman Filter, Linear Quadratic Gaussian Problem, Loop Transfer Recovery, System Identification, Adaptive Control and Model Reference Adaptive Systems, Self Tuning Regulators, Repetitive Control, Disturbance Observers.

• Instructor: Xu Chen, Department of Mechanical Engineering, UC Berkeley (now at Department of Mechanical Engineering, University of Connecticut).

• Room 5112 Etcheverry Hall (E.H.), 510-642-3740, xchen[AT]uconn[DOT]edu
• Tentative Office Hours: Tu, Th 1-2:30pm

• Teaching Assistant: Changliu Liu, Department of Mechanical Engineering, UC Berkeley.

• Room 2103 E.H., changliuliu AT berkeley DOT edu
• Office Hours: M W 10-11am in 136 Hesse Hall

• Lectures: Tu, Th 8:00 am - 9:30 am in Room 3113 Etcheverry Hall.

• Class Notes: lecture notes (single pdf file); ME233 Class Reader (Parts I and II) by M. Tomizuka; both can be purchased at Copy Central, 48 Shattuck Square.
• Online course schedule can be found from http://schedule.berkeley.edu/; a pdf version of the course syllabus is available here.
• Important dates:

• in-class Midterm I on 3/4/2014
• in-class Midterm II on 4/15/2014
• Final exam 7-10 pm 3113 Etcheverry Hall on 5/15/2014 (Thursday)

Lectures

Playlist of lecture videos: Youtube * iTunes U * berkeley webcast

Lecture 1: Introduction; Dynamic Programming; Lecture video on youtube

Lecture 2: Discrete-time Linear Quadratic Optimal Control; Review of Probability Theory (I); Lecture video on youtube

Lecture 3: Review of Probability Theory (II); Lecture video on youtube

Lecture 4: Probability and Random Process; Lecture video on youtube

Lecture 5: Principle of Least Square Estimation; Lecture video on youtube

Lecture 6: Stochastic State Estimation (Kalman Filter) I; Lecture video on youtube

Lecture 7: Stochastic State Estimation (Kalman Filter) II; Lecture video on youtube

Lecture 8: Linear Stochastic Control (Linear Quadratic Gaussian (LQG) Problem) I; Lecture video on youtube

Lecture 9: Linear Stochastic Control (Linear Quadratic Gaussian (LQG) Problem) II; Lecture video on youtube

Lecture 10: MIMO Control and Discretization; Lecture video on youtube

Lecture 11: Loop Transfer Recovery I; Lecture video on youtube

Lecture 12: Loop Transfer Recovery II

Lecture 13: Frequency Shaped LQ; Lecture video on youtube

Lecture 14: Tracking Control (I); Tracking Control (II); Lecture video on youtube

Lecture 15: Internal Model Principle and Repetitive Control; Lecture video on youtube

Lecture 16: Disturbance Observer (I); Lecture video on youtube

Lecture 17: Disturbance Observer (II); Lecture video on youtube

Lecture 18: System Identification; Lecture video on youtube

Lecture 19: Stability of Adaptive Systems I; Lecture video on youtube

Lecture 20: Stability of Adaptive Systems II; Lecture video on youtube

Lecture 21: Parallel Adaptation Algorithms; Lecture video on youtube

Lecture 22: Parameter convergence of adaptation algorithms

Lecture 23: Direct and Indirect Adaptive Control I

Lecture 24: Direct and Indirect Adaptive Control II

Lecture 25: Adaptive Prediction, Minimum Variance Control.