**Disclaimer**

This syllabus is to be used as a guideline only. The information provided is a summary of topics to be covered in the class.
Information contained in this document such as assignments, grading scales, due dates, office hours, required books and materials may be from
a previous semester and are subject to change. Please refer to your instructor for the most recent version of the syllabus.

MAE 507: Advanced Modern Control and Estimation

Syllabus for Spring 2021 (Tentative)

Lecture: Monday/Wednesday 3:00-4:15pm, DH (Durham Hall) 108

Class Website: Course materials will be posted on the ASU Canvas system (http://canvas.asu.edu).
Materials to be posted include announcements, assignments, solutions to assignments, and
lecture notes. Course announcements will also be sent via email.

Instructor: Prof. Sze Zheng Yong

Contact Info: E-mail: szyong@asu.edu

Office: Engineering Research Center (ERC) 305
Office phone: 480-965-7970
Website: http://szyong.engineering.asu.edu

Office Hours: TBD

Course Description: This course introduces state-space methods for the analysis, control, estimation and
optimization of continuous-time, discrete-time and hybrid control systems. With the completion of the course, you
will learn how to design feedback controllers and state estimators; how to analyze and optimize these systems;
and how to incorporate robustness to uncertainties into these designs. You will be introduced to topics including
stability, optimality, robustness, adaptation and safety considerations, and design of state and output feedback
control laws and estimators. You will be required to use MATLAB to solve problems throughout the course.

Prerequisites: Must take MAE 506: Advanced System Modeling, Dynamics and Control concurrently or have
completed this class (or an equivalent class) with a grade of C or higher. Graduate engineering students and
motivated upper-level undergraduate engineering students may enroll. Prior knowledge of control systems and
MATLAB is required.

There is no textbook for the course. The following books and manuscripts can be used as reference:

R. Goebel, R. G. Sanfelice, and A. R. Teel. Hybrid Dynamical Systems, 2012.

F. Borrelli, A. Bemporad, and M. Morari, Predictive Control for Linear and Hybrid Systems, 2013.
D. Liberzon, Switching in Systems and Control, 2003.
Robert L. Williams II and Douglas A. Lawrence. Linear State-Space Control Systems, 2007.
G. F. Franklin, J. D. Powell, and A. Emami-Naeini, Feedback Control of Dynamic Systems, 7th ed., 2014
N. S. Nise, Control Systems Engineering, 6th ed., 2010
K. Ogata, Modern Control Engineering, 5th ed., 2010
R. C. Dorf and R. H. Bishop, Modern Control Systems, 12th ed., 2010.
W. L. Brogan, Modern Control Theory, 3rd ed., 1990
K. J. Astrom and R. M. Murray, Feedback Systems, 2012
W. J. Rugh, Linear System Theory, 2nd ed., 1996
A. Tewari, Modern Control Design with MATLAB and SIMULINK, 2002.

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Homework:
• There will be approximately 6 homework assignments throughout the semester.
• Homework should be turned in on Canvas by 11:59pm on the due date. Assignment due dates follow
Arizona Standard time. Note: Arizona does not observe daylight savings time.
• Notify the instructor BEFORE an assignment is due if an urgent situation arises and you are unable to
submit the assignment on time. Follow the appropriate University policies to request an accommodation
for religious practices or to accommodate a missed assignment due to University-sanctioned activities.
Unless a student has obtained special permission for extraordinary circumstances, late
homework assignments will not be accepted.

Exam:
➢ Midterm exam: TBD during regular class time. The exam is closed-book and closed-notes. One
double-sided handwritten cheat sheet (11 in. × 8½ in.) is allowed.
• For the purposes of fairness, it is important that all students take the same exam at the same time.
Unless a student has obtained special permission for extraordinary circumstances, make-up exams are
not allowed.
• Midterm exam rescheduling requires instructor permission as soon as a scheduling conflict is known.

Course Project:
• There will be a course project (in teams of 2 or at most 3 students) to encourage independent research.
• Project guidelines will be provided in Homework 3 and a project proposal is due with Homework 4.
• The project is graded based on a written report and a presentation.

Grading Policy:
• Grades reflect your performance on assignments and adherence to deadlines.
• After graded work is returned to students, no grading inquiry will be considered for 24 hours. After that
period, students have one week from the day that their work is returned to contact the instructor regarding
the grading of a specific homework assignment or exam. After the one-week period, no grading inquiry
will be considered. Please note that by contesting the grading of a homework assignment or test, you are
agreeing that the entire assignment or test is subject to be re-graded.
• Students are responsible for checking the Canvas website to make sure that it has the correct grade
information. Students are encouraged to keep all graded assignments since grades cannot be corrected
without physical proof that an error was made.
• After the final grade is posted, no request for a grade upgrade will be considered. Students are
responsible for earning their final grade.
• Grade of Incomplete: An “incomplete” may be awarded only in cases when a student, who is otherwise
performing satisfactorily, cannot complete final course requirements, such as a final exam or final project,
due to circumstances beyond the student’s control (such as illness or family emergency). Such
circumstances must be documented. The student must have completed most of the course
requirements. Incompletes will be approved only within the last one or two weeks of the semester and, in
any case, never prior to the final semester withdrawal date. Incompletes cannot be requested after the
time of the scheduled final exam for the course. To request a grade of incomplete, the student must
formally apply to the instructor using the university’s “Incomplete Grade Request” form. Requests must
be submitted to the student’s advisor prior to the final grade due date and are subject to final approval by
the program.

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 Composition of course grade: Letter grade rubric:
Homework and class 40% (Note: these are approximate boundaries
participation between grades)
Midterm 30%
Course project 30% A+: ≥ 96
A: ≥ 86 and < 96
A-: ≥ 80 and < 86
B+: ≥ 77.5 and < 80
B: ≥ 72.5 and < 77.5
B-: ≥ 70 and < 72.5
C+: ≥ 67.5 and < 70
C: ≥ 60 and < 67.5
D: ≥ 50 and < 60
E: < 50

Academic integrity policy:

• Cheating on homework and exams is unacceptable. While students may discuss homework
assignments with each other, the work that each student submits must be entirely his/her own. Plagiarism
is the submission of unreferenced content that was not the product of your original thought but which you
are claiming as your own. Group homework, including writing and submitting multiple copies of
communal MATLAB code, is not allowed.
• Copying on the homework will result in a zero for the homework portion of the total grade; cheating on an
exam will result in an E for this class. Suspected cases of academic dishonesty will be reported to the
Office of Academic and Student Affairs.
• All students in this class are subject to ASU’s Academic Integrity Policy (available at
http://provost.asu.edu/academicintegrity) and should acquaint themselves with its content and
requirements, including a strict prohibition against plagiarism. All violations will be reported to the Dean’s
office, who maintain records of all offenses. Students are expected to abide by the FSE Honor Code
(http://engineering.asu.edu/integrity/).

Student Success
To be successful:
• check the course daily
• read announcements
• read and respond to course email messages as needed
• complete assignments by the due dates specified
• communicate regularly with your instructor and peers
• create a study and/or assignment schedule to stay on track

Other Notes:
• Until further notified, per ASU policy, faculty, staff, students and visitors, are required to wear face
coverings in classrooms, labs, offices and community spaces, including when asking questions. Moreover,
no food or drinks will be allowed in the classrooms, and students have to maintain a safe distance with
each other and the instructor at all times, including when entering and exiting the classroom. Failure to
adhere to safety guidelines will be handled as disruptive or threatening behavior and will lead to removal
from the classroom.

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 • Students are expected to regularly attend lectures (in-person or via Zoom) and are advised to take
advantage of office hours. Please schedule an appointment with me during office hours if you have any
questions, concerns, or if you have a disability that will require accommodations during this class.
• Absences will be excused for: (a) official university-recognized religious holidays (see ACD 304-04); (b)
university-sanctioned events and activities (see ACD 304-02), such as participating in officially recognized
sporting events and representing ASU at student conferences. In these cases, students will be given the
opportunity to make up exams and other graded work. The university requests that students who are ill
remain away from campus in order to prevent the spread of infectious disease. Students with
documented illness will be given alternative grading options.
• Use of cell phones is not permitted in the classroom. The use of recording devices is not permitted during
class, and please note that lectures and other course content are copyrighted materials. Students may not
sell notes or recorded content taken during the course.
• Disruptive or threatening behavior will be handled according to Section 104-02 of the Student Services
Manual. All incidents and allegations of violent or threatening conduct by an ASU student (whether on- or
off-campus) must be reported to the ASU Police Department and the Office of the Dean of Students.
• Students requesting accommodations for a disability, including additional time or resources for taking
exams, must be registered with the Student Accessibility and Inclusive Learning Services (SAILS). Phone:
(480) 965-1234 or TDD: (480) 965-9000 E-mail: Student.Accessibility@asu.edu and submit appropriate
documentation from the SAILS to me. See ACD 304-08 Classroom and Testing Accommodations for
Students with Disabilities.
• Title IX is a federal law that provides that no person be excluded on the basis of sex from participation in,
be denied benefits of, or be subjected to discrimination under any education program or activity. Both
Title IX and university policy make clear that sexual violence and harassment based on sex is
prohibited. An individual who believes they have been subjected to sexual violence or harassed on the
basis of sex can seek support, including counseling and academic support, from the university. If you or
someone you know has been harassed on the basis of sex or sexually assaulted, you can find information
and resources at https://sexualviolenceprevention.asu.edu/faqs. As a mandated reporter, I am obligated
to report any information I become aware of regarding alleged acts of sexual discrimination, including
sexual violence and dating violence. ASU Counseling Services, https://eoss.asu.edu/counseling, is
available if you wish discuss any concerns confidentially and privately.
• The syllabus is a statement of intent and serves as an implicit agreement between the instructor and the
student. Information in this syllabus, other than grade and absence policies, may be subject to change
with reasonable advance notice. Remember to check your ASU email and the course site often.

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