ECPS 208: Control Systems for CPS

Course Outline: approximate

Week 1: Motivation and background

• Modeling (ODE)
– LRC circuits
– Mass-spring dashpot
• Basic background 1:
– Laplace and Fourier Transforms
– Frequency response
• From ODE to State space to transfer function
– solution
– convolution
Week 2: Control – continuous time
• Control approaches:
– Stability
– Transfer function (SISO): tracking, sensitivity, etc.
– State-space based: optimization, robustness, MIMO
• Misc concepts:
– Actuator placement (controllability)
– Sensor placement (observability)

Week 3: Discrete time

• Basic background 2:
– Difference Equations and causality
– Z-transform
– Sampling rates (aliasing)
– Discrete Fourier Transforms
– Fast Fourier Transform, leakage, windowing, etc.

Week 4: Parameter Identification

• FFT to Frequency response to Transfer function
• Extended Kalman Filtering
• Adaptive Techniques (discrete time)

Week 5: Control, Discrete Time

• Continuous Models to Discrete

1
 – State space: continuous to discrete
– state-space to transfer function
– transfer function: from G(s) to G(z).
• Basic Control Concepts:
– Stability
– Markov parameters, discrete time convolution
– Controllability and observability

Week 6: Discrete time controllers

• Direct approach: W-transform (not covered)
• Indirect approach:
– C(s) to C(z)
– Filters needed: anti-aliasing, etc.+
• Midterm

Week 7: Optimization in control

• Key optimization concepts
– First and second order necessary conditions
– Linear and quadratic problems
– Least squares

Week 8: Optimal control in discrete time

• Linear quadratic regulator (recursive)
– cost function and horizon
– dynamics programming
– basic properties
• LQR: Batch solution
• Model predictive control

Week 9: Multi-agent systems and Graphs

• Basic Definitions
• Connectivity, Laplacian, directed/undirected, etc.
• Sample results

Week 10: Case studies

• District cooling and micro-grid
• Distribution optimization: smart BEV charging
• A multi-agent example