# Classes - Beard

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# Schedule - ECE 773/ME 733

Date Topic Reading Homework Additional Material
1/7 State Space & Notation Lecture 1
1/9 Linearization Lecture 2
1/11 LTI Systems Lecture 3
1/14 Transfer functions Lecture 4
1/16 Solution of LTV Systems Lecture 5
1/18 Solution of LTI Systems Lecture 6 hw1: 1.1, 2.1, 2.2, 2.3
1/23 Solution of LTI Systems Lecture 6
1/25 Jordan Form Lecture 7 hw2: 3.1, 4.2, 4.4, 4.5, 5.2
1/28 Lyapunov Stability Lecture 8
1/30 Lyapunov Stability Lecture 8
2/1 Input-Output Stability Lecture 9 hw3: 6.1, 6.2
2/4 Input-Output Stability Lecture 9
2/6 Preview Optimal Control Lecture 10 LQR Example
2/8 Controllability Lecture 11 hw4: 7.1, 8.3, 8.4, 8.5, 8.6, 8.7
2/11 Controllability Lecture 11 linear_operators.pdf
2/13 Controllable Systems Lecture 12
2/15 Controllable Systems Lecture 12 hw5: 9.1, 10.1
2/20 Controllable Decompositions Lecture 13
2/22 Stabilizability Lecture 14 hw6: 11.1, 12.1, 12.2, 12.3, 13.1
2/25 Observability Lecture 15
2/27 Observability Lecture 15
3/1 Output Feedback Lecture 16 hw7: 14.1, 14.2, 14.3
3/4 Output Feedback Lecture 16 Observer-based control
3/6 Minimal Realizations Lecture 17
3/8 Grade Midterm
3/11 Minimal Realizations Lecture 17
3/13 Smith-McMillan Form Lecture 18
3/15 Smith-McMillan Form Lecture 18 hw8: 15.1, 16.1
3/18 Zeros, Minimality, Inverses Lecture 19
3/20 Zeros, Minimality, Inverses Lecture 19
3/22 Linear Quadratic Regulator Lecture 20 hw9: 17.1, 17.2, 18.1, 18.2,
3/25 Whirlybird
3/27 Algebraic Riccati Equation Lecture 21
3/29 Algebraic Riccati Equation Lecture 21 hw10: 18.3, 19.1, 19.2, 19.3 Extra Problems Do Prob 2.9, but write your own minreal command and compare.
4/1 Properties of LQR Lecture 22
4/3 Properties of LQR Lecture 22
4/5 LQR/LQG Lecture 23 hw11: 20.1, 20.2, 21.2, 21.4 Extra Problems Do Probs 2.12 and 2.13, but implement in Simulink and tune the controller with both Q and R.
4/8 LQR/LQG Lecture 23
4/19 Loop Transfer Recover Notes
4/12 Reference Input Notes hw12: 22.1, 23.3, 23.5
4/15 Integrators in LQR Notes whirlybirdsim.zip
4/23 Final Exam

# Weekly Homework Session

Wednesday 12-1PM, CB 406.