Course Objectives
Learning purposes : Explain the state-space model expressed in the time domain for the system expressed by the transfer function, and understand the concept of controllability and observability of the system.
Course Objectives :
1. A state-space representation can be constructed from a real system.
2. the equation of a state-space representation can be solved.
3. Understand controllable and observable, and be able to judge controllable and observable system.
4. The poles of the system can be specified by state feedback.
Rubric
| Excellent | Good | Acceptable | Not acceptable |
| Achievement 1 | The theory of state-space models can be applied to complex problems. | Understand the theory of state-space models. | Understand the basic theory of state-space models. | The student will not try to understand the basic theory of state-space models. |
| Achievement 2 | Evolved theories can be applied to the coordinate transformation of state-space equation. | Understand the coordinate transformation of state-space equation. | Understand the basic coordinate transformations of state-space equation. | The student will not try to understand the coordinate transformation of state-space equations. |
| Achievement 3 | Evolved theories can be applied to the concepts of controllability and observability of systems. | Understand the theory of system controllability and observability concepts. | Understand the basic theory of system controllability and observability concepts. | The student will not try to understand the theory of system controllability and observability concepts. |
| Achievement 4 | Control system design theory by state feedback can be applied to applied problems. | Understand control system design by state feedback. | Understand basic control system design by state feedback. | The student will not try to understand the control system design by state feedback. |
Assigned Department Objectives
Teaching Method
Outline:
General or Specialized : Specialized
Field of learning :
Foundational academic disciplines :
Engineering / Electrical and electronic engineering / Control and system engineering
Relationship with Educational Objectives :
This class is equivalent to "(3) Acquire deep foundation knowledge of the major subject area".
Course outline :
In this lecture, the modeled system will be analyzed by modern control theory. We will discuss the stability theory of these systems, controllability / observability, structural analysis, etc. in a unified manner based on the equations of state.
Style:
Course method :
Lectures will be given with examples of control models for "inverted two-wheeled vehicle robots", from modeling complex systems to control design methods. In addition, we will impose reporting tasks to deepen understanding.
Grade evaluation method :
Exams (70%) + Mini tests (30%).
Retaking exams may be conducted after the regular exams, but the score of the regular exams will be re-evaluated up to 60 points.
Confirmation exams conducted during class and learning outcomes outside class hours (exercises for assignments, reports, etc.) are evaluated equally (30%). However, learning outcomes that have passed the submission deadline will be evaluated up to 20%.
Notice:
Precautions on the enrollment :
This is a class that requires study outside of class hours. A total of 45 hours of study is required per credit, including both class time and study outside class time. Follow the instructions of the instructor regarding study outside of class hours.
Course advice :
As a preparatory study to be done in advance, it is desirable to understand what was learned in the control engineering.
Foundational subjects :
Control Engineering (4th or 5th year), Advanced Controls Engineering (5th)
Related subjects :
Linear Algebra (Adv. 1st)
Attendance advice :
In this lecture, we will make full use of our knowledge of linear algebra. Matrix operations can be calculated efficiently using a computer, but basic calculations must be confirmed by handwork. It is also important to complete the given task without delay.
Those who attend the class at the beginning of the class, do not receive a reply at that time, and then enter the room will be late. If you are late three times, you will be absent once.
Characteristics of Class / Division in Learning
Course Plan
|
|
|
Theme |
Goals |
| 2nd Semester |
| 3rd Quarter |
| 1st |
Guidance |
|
| 2nd |
Dynamical system and state-space equation |
|
| 3rd |
System model and linearization(1) |
|
| 4th |
System model and linearization(2) |
|
| 5th |
System model and linearization(3) |
|
| 6th |
System model and linearization(4) |
|
| 7th |
Solution of state-space equation |
|
| 8th |
Controllability, observability and judgment method |
|
| 4th Quarter |
| 9th |
Coordinate transformation of state-space system(1) |
|
| 10th |
Coordinate transformation of state-space system(2) |
|
| 11th |
Structural analysis of linear system |
|
| 12th |
System stability and its distinction |
|
| 13th |
Poles specification by state feedback |
|
| 14th |
Poles specification by output feedback |
|
| 15th |
(2nd semester final exam) |
|
| 16th |
Return and commentary of exam answers |
|
Evaluation Method and Weight (%)
| Examination | Presentation | Learning outcomes | Behavior | Portfolio | Other | Total |
| Subtotal | 70 | 0 | 30 | 0 | 0 | 0 | 100 |
| Basic Proficiency | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| Specialized Proficiency | 70 | 0 | 30 | 0 | 0 | 0 | 100 |
| Cross Area Proficiency | 0 | 0 | 0 | 0 | 0 | 0 | 0 |