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Instructor Class Description

Time Schedule:

Santosh Devasia
A A 593
Seattle Campus

Feedforward Control

Design feedforward controllers for precision output tracking; inversion-based control of non-minimum-phase systems; effect of plant uncertainty on feedforward control; design of feedforward controllers for applications such as vertical take off and landing aircraft, flexible structures and piezo-actuators. Prerequisite: A A 547/E E 547/M E 547. Offered: jointly with E E 593/M E 593; Sp, even years.

Class description

Texts: None. In-class notes and article from journals

References: MATLAB Tutorials For example, see http://www.engin.umich.edu/class/ctms/

Prerequisites: Linear Systems ME/EE/AA 547 and 548 Must know how to use MATLAB, Laplace Transforms, Modeling and Simulation, Controllability and Observability of MIMO Systems

Class Objectives: At the end of the course, the student should be able to (1) Design Feedforward Inputs for high-precision control (2) Design Feedforward for Nonminimum Phase Systems (3) Understand when Feedforward should be used under Plant Uncertainty (4) MATLAB Simulations of VTOL, flexible structures and Piezos Instructor: Santosh Devasia Office MEB 326 Telephone 685-3401 (Office) Email devasia@u.washington.edu Class-Room Loew 206 Class-Timings M W 2.30 - 3.50 pm Office Hours Mon 4.005.00pm, Tue 2.30-3.30pm Website for class https://depts.washington.edu/sdclass/

Grading Policy: Homework 25 % Midterm 15 % (In-class --- need to come to UW) Project 20% (requires in-class presentation --- need to come to UW) Finals 40 %

Student learning goals

General method of instruction

L#1 Introduction; State-Space Models; Inversion for Simple Systems L#2 Extension to General SISO Linear Systems L#3 Stability Issues: Integration of FF and FB L#4 Inversion of Nonlinear SISO system L#5 MIMO Systems, Linear and Nonlinear Cases L#6 Poles of the inverse system L#7 Reduced Order Inverse for Linear Systems L#8 Reduced Order Inverse for MIMO and Nonlinear Systems L#9 Online Inverse In-Class Presentations of the Projects (need to come to UW) L#10 Historical Perspective and Approximate Inverse L#11 Inversion for Linear Nonminimum-Phase Systems L#12 Non-Linear Nonminimum-Phase Inversion L#13 VTOL/MATLAB L#14 Preview-based Inversion (VTOL) L#15 Robustness of Inverse (Optimal Inversion) L#16 Optimal Output Transitions (Inversion+LQR) In-Class Presentations of the Projects (need to come to UW)

Recommended preparation

Class assignments and grading


The information above is intended to be helpful in choosing courses. Because the instructor may further develop his/her plans for this course, its characteristics are subject to change without notice. In most cases, the official course syllabus will be distributed on the first day of class.
Last Update by Santosh Devasia
Date: 02/25/2012