
SC4025: 
Control Theory 
ECTS: 
6 
Responsible Instructor: 
dr.ir. T. Keviczky 
Contact Hours / Week x/x/x/x: 
6/0/0/0 
Education Period: 
1 
Start Education: 
1 
Exam Period: 
1, 2 
Course Language: 
English 
Course Contents: 
 Statespace description of multivariable linear dynamic systems, interconnections, block diagrams  Linearization, equilibria, stability, Lyapunov functions and the Lyapunov equation  Dynamic response, relation to modes, the matrix exponential and the variationofconstants formula  Realization of transfer matrix models by state space descriptions, coordinate changes, normal forms  Controllability, stabilizability, uncontrollable modes and poleplacement by statefeedback  LQ regulator, robustness properties, algebraic Riccati equations  Observability, detectability, unobservable modes, stateestimation observer design  Output feedback synthesis (one and twodegrees of freedom) and separation principle  Disturbance and reference signal modeling, the internal model principle 
Study Goals: 
The student is able to apply the developed tools both to theoretical questions and to simulationbased controller design projects. More specifically, the student must be able to:  Translate differential equation models into statespace and transfer matrix descriptions  Linearize a system, determine equilibrium points and analyze local stability  Describe the effect of pole locations to the dynamic system response in time and frequencydomain  Verify controllability, stabilizability, observability, detectability, minimality of realizations  Sketch the relevance of normal forms and their role for controller design and model reduction  Describe the procedure and purpose of poleplacement by statefeedback and apply it  Apply LQ optimal statefeedback control and analyze the controlled system  Reproduce how to solve Riccati equations and describe the solution properties  Explain the relevance of state estimation and build converging observers  Apply the separation principle for systematic 1dof and 2dof outputfeedback controller design  Build disturbance and reference models and apply the internal model principle 
Education Method: 
Lectures and Exercise Sessions 
Computer Use: 
The exercises will be partially based on Matlab in order to train the use of modern computational tools for modelbased control system design. 
Literature and Study Materials: 
B. Friedland, Control System Design: An Introduction to Statespace Methods. Dover Publications, 2005 K.J. Astrom, R.M. Murray, Feedback Systems: An Introduction for Scientists and Engineers, Princeton University Press, Princeton and Oxford, 2009 http://www.cds.caltech.edu/~murray/amwiki/index.php?title=Main_Page 
Assessment: 
Written midterm examination (15%) and written final examination (85%). For the resit examination (January 2014) there will be a written examination (100%) for which the midterm result will not count. 
Design Content: 
Simulationbased statespace approach to modelbased control system design 
