Center
for Control Engineering and Computation
Univ.
Graduate
Courses
1 Classes offered in the 2009-2010 academic year.................................................................................................................................. 2
2 Classes offered in the 2008-2009 academic year.................................................................................................................................. 3
3 Classes offered in the 2007-2008 academic year.................................................................................................................................. 4
4 Classes offered in the 2006-2007 academic year.................................................................................................................................. 5
5 Classes offered in the 2005-2006 academic year.................................................................................................................................. 7
6 Classes offered in the 2004-2005 academic year.................................................................................................................................. 9
7 Full list of Graduate Courses by focus area........................................................................................................................................ 10
7.1 Linear systems and robust control............................................................................................................................................... 10
7.2 Nonlinear and adaptive control.................................................................................................................................................... 11
7.3 Stochastic control........................................................................................................................................................................... 12
7.4 Optimization and Optimal Control................................................................................................................................................ 13
7.5 Computational methods................................................................................................................................................................. 14
7.6 Mechanical systems and robotics................................................................................................................................................ 15
7.7 Process control................................................................................................................................................................................ 16
7.8 Micro-Electro-Mechanical Systems (MEMS)............................................................................................................................. 16
7.9 Mathematics.................................................................................................................................................................................... 17
7.10 Advanced topics............................................................................................................................................................................. 18
8 Other Related Courses........................................................................................................................................................................... 20
8.1 Estimation, filtering, and classification........................................................................................................................................ 20
8.2 Biomedical........................................................................................................................................................................................ 20
8.3 Networks.......................................................................................................................................................................................... 20
8.4 Discrete-event systems.................................................................................................................................................................. 20
8.5 Embedded system........................................................................................................................................................................... 20
8.6 PDEs.................................................................................................................................................................................................. 21
9 Curriculum examples............................................................................................................................................................................... 22
1
Classes offered in the 2009-2010 academic year
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Academic year 2009/2010 |
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Fall 2009 |
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Course |
Course name |
Instructor |
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ECE 147A |
Feedback Control Systems: Theory
and Design |
Teel |
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ChE 152A |
Process Dynamics and Control |
Seborg |
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ECE 210A/ME 210A/ChE 211 |
Matrix Analysis and Computation |
Smith |
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ECE 230A/ME 243A |
Linear Systems I |
Bamieh |
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ECE 270 |
Game Theory |
Hespanha |
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ME 201 |
Advanced Dynamics |
Mezic |
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ME 215A |
Applied Dynamical Systems I |
Moehlis |
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ME 225 |
Distributed Control (special
topics) |
Bullo |
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Winter 2010 |
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Course |
Course name |
Instructor |
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ECE 130B |
Signal Analysis and Processing |
Chandrasekaran |
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ECE 147B |
Digital Control Systems-Theory
and Design |
Smith |
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ECE 152B |
Process Dynamics and Control |
Doyle |
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ECE 236/ME 236 |
Nonlinear Control Systems |
Teel |
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ECE 230B/ME 243B |
Linear Systems II |
Khammash |
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ECE 594D |
Robot Locomotion |
Byl |
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Spring 2010 |
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Course |
Course name |
Instructor |
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ECE 130C |
Signal Analysis and Processing
(Linear Algebra) |
Chandrasekaran |
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ECE 147C/ME 106A |
Control Systems Design Project |
Hespanha |
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ME 155A |
Control System Design I |
Khammash |
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ME 170A/ECE 181A |
Introduction to Robotics: Robot
Mechanics |
Bullo |
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ME 170C/ECE 181C |
Introduction to Robotics: Robot Control |
Paden |
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ME 169/ECE 183 |
Nonlinear Phenomena |
Teel |
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ME 203 |
Advanced Dynamics |
Mezic |
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ECE 238 |
Advanced Control Design
Laboratory |
Byl |
2
Classes offered in the 2008-2009 academic year
3 Classes offered in the 2007-2008 academic year
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Academic year 2007/2008 |
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Fall 2007 |
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Course |
Course name |
Instructor |
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ECE 147A |
Feedback
Control Systems: Theory and Design |
Teel |
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ECE 210A/ME 210A/ChE 211 |
Matrix Analysis
and Computation |
Smith |
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ECE 594 |
Noncooperative
Game Theory (Special Topics) |
Hespanha |
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ECE 594 |
Fourrier
Analysis for Engineers (Special Topics) |
Chandrasekaran |
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ECE 230A/ME
243A |
Linear Systems
I |
Khammash |
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ME 104 |
Sensors,
Actuators and Computer Interfacing |
Paden |
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ME 141A |
Introduction to
MicroElectroMechanical Systems (MEMS) |
Turner |
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ME 155A |
Control System
Design I |
Bullo |
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ME 255 |
Distributed
Robotics (special topics) |
Bullo |
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ME 201 |
Advanced
Dynamics |
Mezic |
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ECE595D |
Control,
Dynamical Systems, and Computations Seminar |
Khammash |
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Winter 2008 |
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Course |
Course name |
Instructor |
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ECE 130B |
Signal Analysis
and Processing |
Chandrasekaran |
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ECE 147B |
Digital Control
Systems-Theory and Design |
Teel |
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ECE 230B/ME
243B |
Linear Systems
II |
Bamieh |
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ME 155B |
Control Systems
Design II |
Paden |
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ECE 234 |
Modeling,
Identification, and Validation for Control |
Smith |
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ME 203 |
Advanced
Dynamics |
Mezic |
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ME 225 |
Dynamical
Systems with Symmetries |
Moehlis |
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ME 255 |
Control of
Micro Systems (special topics) |
Astrom |
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ECE595D |
Control,
Dynamical Systems, and Computations Seminar |
Khammash |
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Spring 2008 |
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Course |
Course name |
Instructor |
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ECE 130C |
Signal Analysis
and Processing (Linear Algebra) |
Chandrasekaran |
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ECE 147C/ME
106A |
Control Systems
Design Project |
Bamieh |
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ME 155A |
Control System
Design I |
Khammash |
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ECE 238 |
Advanced
Controls Laboratory |
Smith |
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ECE 236/ME 236 |
Nonlinear
Control Systems |
Teel |
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ChE/ECE/ME 295
or CS 592 |
Control,
Dynamical Systems, and Computations Seminar |
Khammash |
4 Classes offered in the 2006-2007 academic year
5 Classes offered in the 2005-2006 academic year
6 Classes offered in the 2004-2005 academic year
7 Full list of Graduate Courses by focus area
Attention: Some courses are not offered every year. Students are encourage to contact the instructors to find out when a particularly course will be offered next.
ECE295/ME295/ChE295
Group Studies: Controls, Dynamical Systems, and Computation (every quarter, 1
unit)
Prerequisites: Graduate standing
A series of weekly lectures given by university staff and outside experts in the fields of control systems, dynamical systems, and computation. All CCDC students should enroll in this course every quarter.
7.1 Linear systems and robust control
ECE230A/ME243A Linear Systems I (Fall, 4 units, faculty: Bamieh,
Kokotovic, Hespanha)
Prerequisites: Graduate
standing
State space description, solution of state equations, state transition matrix, variation of constants formula. Controllability, observability, Kalman decomposition. Realizations, minimal realizations, canonical realization. Stability (Lyapunov, input-output). Pole assignment, compensator design, state observers.
Past syllabus: Fall'02, Fall'04
ECE230B/ME243B Linear Systems II (Winter, 4 units, faculty: Bamieh,
Kokotovic, Hespanha)
Prerequisites: ECE230A/ME243A
Modern compensator design. Disturbance localizations
and decoupling. Least-squares control. Least-squares estimation; Kalman
filters; smoothing. The separation theorem; LQG compensator design.
Computational considerations. Selected additional topics.
ECE232/ME256 Robust Control (4 units, faculty: Bamieh, Smith, Khammash)
Prerequisites: ECE230A/ME243A and ECE230B/ME243B (may
be taken concurrently).
Robust control theory; uncertainty modeling; stability
of systems in the presence of norm-bounded perturbations; induced norm
performance problems; structured singular value analysis; H-infinity control
theory; model reduction; computer simulation based design project involving
practical problems.
ECE234 Modeling, Identification, and Validation for Control (4 units,
faculty: Smith)
Prerequisites: ECE230A.
Parametric and non-parametric models, open and
closed-loop identification, bias and variance effects, model order selection,
probing signal design, subspace identification, closed-loop probing,
autotuning, model validation, iterative identification and design.
ME225AQ Introduction to Robust Control (3 units, faculty: Khammash)
Prerequisites: ECE230A/ME243A (may be taken
concurrently).
TBA
7.2 Nonlinear and adaptive control
ECE236/ME236 Nonlinear Control Systems (Winter, 4 units, faculty:
Kokotovic, Teel)
Prerequisites: ECE230A.
Analysis and design of nonlinear control systems. Focus on Lyapunov stability theory, with sufficient time devoted to contrasts between linear and nonlinear systems, input-output stability and the describing function method.
Past syllabus: Winter’04
ECE237/ME237 Nonlinear Control Design (odd-year Spring, 4 units,
faculty: Kokotovic, Teel)
Prerequisites: ECE236/ME236.
Stabilizability by linearization and by geometric
methods. State feedback design and input/output linearization. Observability
and output feedback design. Singular perturbations and composite control.
Backstepping design of robust controllers for systems with uncertain
nonlinearities. Adaptive nonlinear control.
ECE247 System Identification (even-year Winter, 4 units, faculty:
Kokotovic)
Prerequisites: ECE236/ME236
On-line identification of continuous- and
discrete-time systems. Linear parameterizations. Continuous gradient and least
squares algorithms. Stability, persistent excitation and parameter convergence.
Robust algorithms for imperfect models. Averaging. Discrete-time equation-error
identifiers. Output-error methods.
ECE249 Adaptive Control Systems (even-year Spring, 4 units, faculty:
Kokotovic)
Prerequisites: ECE247.
Models of plants with unknown parameters. Boundedness
properties of parameter update laws. Adaptive linear control. Stability and
robustness to modeling errors and disturbances. Backstepping state-feedback
design of direct adaptive nonlinear control. Output-feedback design. Nonlinear
swapping. Indirect adaptive nonlinear control.
7.3 Stochastic control
ECE235 Stochastic Processes in Engineering (Winter, 4 units, faculty:
Iltis)
Prerequisites: graduate standing.
A first-year graduate course in stochastic processes,
including: review of basic probability; Gaussian, Poisson, and Wiener
processes; wide-sense stationary processes; covariance function and power
spectral density; linear systems driven by random inputs; basic Wiener and
Kalman filter theory.
ECE248 Kalman and Adaptive Filtering (Fall, 4 units, faculty:
Prerequisites: ECE210A, 230A and 235 (may be taken
concurrently).
Least-squares estimation for processes with
state-space models. Wiener filters and spectral factorization. Kalman filters,
smoothing and square-root algorithms. Steady-state filters. Extended Kalman
filters for non-linear models. Fixed-order and order-recursive adaptive
filters.
ME225AV Stochastic Modeling Control (faculty: Astrom)
Prerequisites: consent from instructor
Stochastic Processes, State Models - Stochastic Differential Equations, Analysis of Linear Stochastic Systems, Stochastic Optimal Control, Input-output Models, Prediction and Minimum Variance Control, Kalman Filtering and LQG, Models from Data – Identification, Adaptive Control
Past syllabus: Winter’05
7.4 Optimization and Optimal Control
