EE 5321- Optimal Control Systems

ADMINISTRATIVE POLICY

Updated: Thursday, December 18, 2008 by F.L. Lewis

This is a UTA Web-Based Course. The internet URL is linked to
http://arri.uta.edu/acs

Related webpages:

Systems and Controls Thrust Area

EE 5321 Homepage

Catalog Information: EE5321- OPTIMAL CONTROL (3-0)

Design of optimal control systems. Topics include optimization under constraints, linear quadratic regulators, Riccati equation, suboptimal control, dynamic programming, calculus of variations, and Pontryagin's minimum principle. A prior introductory systems course, such as EE 5307 is desirable.

Prerequisite: consent of instructor.

Course Objectives: To provide students with a firm foundation in optimality principles in modern control systems design. To study fundamental concepts of optimal control including the Hamiltonian, Langrange/Euler equations, dynamic programming, Pontryagin’s minimum principle, Bellman’s theorem, and the Riccati equation. To show how to apply optimal principles in the design of feedback controllers for practical systems including aircraft autopilots, industrial systems, process control, and missile pursuit. MATLAB simulations will provide design experience and insight for optimal control system design.

Topics Covered: see separate schedule.

Class hours: MW 4-520pm, NH 105

Instructor: F.L. Lewis, tel: 272-5972, office: ARRI room 215 (off campus), lewis@uta.edu
Office hours: after class

Teaching Assistant: Kyriakos Vamvoudakis, Kyriakos@arri.uta.edu

TA Office Hours: email by appointment in NH 130 or the TA temporary office building.

Texts: 1) F.L. Lewis and V.L. Syrmos, Optimal Control, Wiley 1995.

2) Student Edition of Matlab, windows version 5.0
3) Notes on the web.

Grading:

Homework-- 20%
Exam 1 25%
Exam 2 25%
Final Exam 30%

Student Learning Outcomes:

1. Students will understand the fundamental principles of optimality and how to include optimal criteria into control design

Assessment- homeworks and examinations.

2. Students will be able to perform designs with various optimal control tools including the Riccati equation using MATLAB computer simulation toolboxes.

Assessment- computer design and simulation projects assigned in homeworks.

3. Students will understand the fundamental principles of optimal control including the Hamiltonian, Lagrange/Euler equations, and dynamic programming.

Assessment- design and simulation projects assigned in homeworks. Exams.

4. Students will understand how to apply optimal control in the design of practical systems in aerospace, industry, and vehicle control.

Assessment- homework design problems.

5. Students will understand the fundamental contributions by scientists including Hamilton, Pontryagin, Bellman, and R. Kalman, and the historical context of optimal control development.

Assessment- lecture and class discussion.

Relation to Program Objectives. This is a course in modern optimal design for feedback control systems. Objectives include presenting the basic design methods in optimal design and showing their relationships. Relations with principles of physics will be shown as well. Results in stability and robustness will be covered. Design examples in aerospace, industry, vehicle control, and process control will be discussed in class and presented in homework design problems. Students will learn to use MATLAB for design of optimal control systems. This course builds on classical control techniques and modern state-variable systems and extends them to optimal feedback control systems.

Attendance is not mandatory. If you skip classes, you will find the homework and exams more difficult. Due to the pace of the lectures, copying someone else's notes may be an unreliable way of making up an absence. You are responsible for all material covered in class regardless of absences.

You will need to use MATLAB, including the neural network, controls, and DSP toolbox. MATLAB is installed on the ACS network. Using the Student Edition of MATLAB you can install it on your own PC or MAC.

Check the grading of the exams thoroughly. You will have one week after the exam to see me for regrading. After this period, the grade is final.

Questions during class are strongly encouraged. The worst thing I can do is move too slowly and bore you. The next worst thing I can do is move too quickly and confuse you. If either of these occurs, it is your responsibility to speak up. You are paying for an education, and if the material is not presented clearly with confusion being eliminated shortly after it sets in you are not getting what you contracted for. On the other hand, if I never confuse you I am being unduly conservative and hence not conscientious. There is a very fine balance here, with you as student and me as instructor each having very definite responsibilities for keeping open all channels of communication. It is extremely difficult to teach a course without some sort of real-time feedback.

Some philosophy. I have an attitude toward learning which is based very heavily on independence and self-reliance; it can be summed up in the statement

"Knowledge cannot be given, but comes only with great personal sacrifice and effort."

It is my job to make knowledge available to you and show you one attitude toward it based on my experience in the area. It is your job to make it a part of yourself and so your own personal possession.

Drop Policy

As per University guidelines. See the Registrar’s Bulletin or the University Calendar in the front part of the UTA catalog for drop dates.

Student Evaluation of Teaching and Feedback for Course Improvement

Students will be asked to complete instructor/course evaluation forms at the end of the semester. The results will be used to update assessment of student performance, course objectives and content, and Student Learning Outcomes.

Americans with Disabilities Act

If you require an accommodation based on disability, I would like to meet with you in the privacy of my office, during the first week of the semester, to make sure you are properly accommodated.

The University of Texas at Arlington is on record as being committed to both the spirit and letter of federal equal opportunity legislation; reference Public Law 92-112 - The Rehabilitation Act of 1973 as amended. With the passage of federal legislation entitled Americans with Disabilities Act (ADA), pursuant to section 504 of the Rehabilitation Act, there is renewed focus on providing this population with the same opportunities enjoyed by all citizens.

As a faculty member, I am required by law to provide "reasonable accommodations" to students with disabilities, so as not to discriminate on the basis of that disability. Student responsibility primarily rests with informing faculty of their need for accommodation and in providing authorized documentation through designated administrative channels.  Information regarding specific diagnostic criteria and policies for obtaining academic accommodations can be found at www.uta.edu/disability.   Also, you may visit the Office for Students with Disabilities in room 102 of University Hall or call them at (817) 272-3364.

Academic Integrity

It is the philosophy of The University of Texas at Arlington that academic dishonesty is a completely unacceptable mode of conduct and will not be tolerated in any form. All persons involved in academic dishonesty will be disciplined in accordance with University regulations and procedures. Discipline may include suspension or expulsion from the University.

"Scholastic dishonesty includes but is not limited to cheating, plagiarism, collusion, the submission for credit of any work or materials that are attributable in whole or in part to another person, taking an examination for another person, any act designed to give unfair advantage to a student or the attempt to commit such acts." (Regents’ Rules and Regulations, Series 50101, Section 2.2)

ANY CHEATING WILL RESULT IN SEVERE PENALTIES.

Student Support Services Available:

The University of Texas at Arlington supports a variety of student success programs to help you connect with the University and achieve academic success. These programs include learning assistance, developmental education, advising and mentoring, admission and transition, and federally funded programs. Students requiring assistance academically, personally, or socially should contact the Office of Student Success Programs at 817-272-6107 for more information and appropriate referrals.

Final Review Week:

A period of five class days prior to the first day of final examinations in the long sessions shall be designated as Final Review Week. The purpose of this week is to allow students sufficient time to prepare for final examinations. During this week, there shall be no scheduled activities such as required field trips or performances; and no instructor shall assign any themes, research problems or exercises of similar scope that have a completion date during or following this week unless specified in the class syllabi. During Final Review Week, an instructor shall not give any examinations constituting 10% or more of the final grade, except makeup tests and laboratory examinations. In addition, no instructor shall give any portion of the final examination during Final Review Week. Classes are held as scheduled during this week and lectures and presentations may be given.

E-Culture Policy:

The University of Texas at Arlington has adopted the University email address as an official means of communication with students. Through the use of email, UT-Arlington is able to provide students with relevant and timely information, designed to facilitate student success. In particular, important information concerning registration, financial aid, payment of bills, and graduation may be sent to students through email.

All students are assigned an email account and information about activating and using it is available at www.uta.edu/email. New students (first semester at UTA) are able to activate their email account 24 hours after registering for courses. There is no additional charge to students for using this account, and it remains active as long as a student is enrolled at UT-Arlington. Students are responsible for checking their email regularly.

Make-up Exam Policy: See instructor. Arrangements must be made PRIOR to the exam.

Grade Grievance Policy: As per the UTA catalog.