Information on ECE Ph.D. Qualifying Exam Subject Area Control Systems
Syllabus
Problem Sets
EE621: Nonlinear Control (Spring 2008)
Course Description: Methods for analysis and design of nonlinear control systems emphasizing Lyapunov theory. Second order systems, phase plane descriptions of ononlinerar phenomena, limit cycles, stability, direct and indirect method of Lyapunov, linearization, feedback linearization, Lyapunov-based design, and backstepping.
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EE602: Analytic Methods in Electrical Engineering (Spring 2008)
Course Description: The theory of linear algebra with application to state space analysis. Topics include Cauchy-Binet and Laplace determinant theorems, and system of linear equations; linear transformations, basis, and rank; Gaussian elimination; LU and congruent transformations; Gramm-Schmidt; eigenvalues, eigenvectors, and similarity transformations; canonical forms; functions of matrices; singular value decomposition; generalized inverses; norm of a matrix; polynomial matrices; matrix differential equations; state space; and controllability and observability.
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E246: Electronics & Instrumentation (Fall 2005, Fall 2006, Spring 2007, Fall 2007)
Course Description:Signal acquisition procedures, instrumentation components, electronic amplifiers, signal conditioning, low-pass, high-pass, and band-pass filters, A/D converters and antialiasing filters, embedded control and instrumentation, microcontrollers, digital and analog I/O, instruments for measuring physical quantities such as motion, force, torque, temperature, pressure, etc., FFT and elements of modern spectral analysis, random signals, standard deviation and bias.
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EE631 Cooperating Autonomous Mobile Robots (Fall 2006)
Course Description: Advanced topics in autonomous and intelligent mobile robots, with emphasis on planning algorithms and cooperative control. Robot kinematics, path and motion planning, formation strategies, cooperative rules and behaviors. The application of cooperative control spans from natural phenomena of groupings such as fish schools, bird flocks, deer herds, to engineering systems such as mobile sensing networks, vehicle platoon.
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Reading List:
- Paper 1: Guest Editorial: Advances in MultiRobot Systems, by T. Arai, E. Pagello, and L. E. Parker, IEEE Transactions on Robotics and Automation 18(5): 655-661, 2002.
- Paper 2: Cooperative Mobile Robotics: Antecedents and Directions, by Cao, Fukunaga, and Kahng, Autonomous Robots 4(1): 7-27, 1997.
- Paper 3: Optimal and efficient path planning for partially-known environments, by A. Stentz, Proceedings of 1994 IEEE International Conference on Robotics and Automation, Page(s):3310 - 3317 vol.4, 8-13 May 1994.
- Paper 4: The Focussed D* Algorithm for Real-Time Replanning, by A. Stentz, Proceedings of the International Joint Conference on Artificial Intelligence, August, 1995.
- Paper 5: A distributed and optimal motion planning approach for multiple mobile robots, by Y. Guo and L. Parker, Proceedings of the 2002 IEEE International Conference on Robotics and Automation, pp. 2612-2619, Washington D.C., May, 2002.
- Paper 6: A new analytical solution to mobile robot trajectory generation in the presence of moving obstacles, by Zhihua Qu, Jing Wang, Plaisted, C.E., IEEE Transactions on Robotics, Volume 20, Issue 6, Dec. 2004 Page(s):978 - 993 .
- Paper 7: Cooperative Control of Large Systems, by M. E. Khatir and E. J. Davison, IN Cooperative Control, A Post-Workshop Volume 2003 Block Island Workshop on Cooperative Control, Edited by V. Kumar, N. Leonard, A. S. Morse, page 119-136.
- Paper 8: Exploring Complex Networks, by S. H. Strogatz, Nature 410, 268-276 (8 March 2001).
- Paper 9: Consensus Problems in Networks of Agents With Switching Topology and Time-Delays, by R. Olfati-Saber and R. M. Murray, IEEE Transactions on Automatic Control, Vol. 49, No. 9, pp. 1520-1533, 2004.
- Paper 10: Decentralized control of vehicle formations, by G. Lafferriere.,1,A.Williams1, J. Caughman, J.J.P. Veerman, Systems and Control Letters, Vol. 54, pp. 899-910, 2005.
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Questions? Email yguo1@stevens.edu