EL 522 (Sensor-based robotics)

Robot mechanisms, robot arm kinematics (direct and inverse kinematics), robot arm dynamics (Euler-Language, Newton-Euler, and Hamiltonian Formulations), trajectory planning, sensing, end-effector mechanisms, force and moment analysis, introduction to control of robot manipulators. Prerequisite: Graduate Status. Pre/Corequisite: EE 106. Also listed under ME 661.

EL 625 (Linear Systems)

Basic system concepts. Equations describing continuous and discrete-time linear systems. Time domain analysis, state variables, transition matrix, impulse response. Transform methods. Time- variable systems. Controllability, observability, and stability. Prerequisite: Graduate Status and EE 105. Also listed under ME 670.

EL 611 (Signals, systems and transforms)

Continuous and discrete linear systems, system function. Fourier transforms,periodic functions, Z transforms, discrete Fourier series, Fast Fourier Transforms. Analog and digital filters, finite order system functions. Digital processing of analog signals. Sampling theorems. Prerequisite: Graduate Status and EE 105.

EL 621 (System theory and feedback control)

Design of single-input-output systems in the frequency domain. Stability of interconnected systems from component transfer functions. Parameterization of stabilizing controllers. Introduction to optimization (Wiener-Hopf design). Prerequisite: Graduate Status and EE 106.

EL721 (System theory and feedback -II)

A continuation of EL 621 for multi-input-output systems. Matrix fractions, optimal and suboptimal design considerations for two-degree of freedom systems. Prerequisites: Graduate Status. EL 621 and EL 613.

EL723 (System optimization methods)

Formulation of system optimization problems. Elements of functional analysis applied to system optimization. Local and global system optimization with and without constraints. Variational methods, calculus of variations, and linear, nonlinear and dynamic programming iterative methods. Examples and applications. Prerequisite: Graduate Status. EL 625 or EL 613.

EL724 (H-infinity frequency domain methods in control)

Systems and operators, stabilizability, parameterization of stabilizing controllers, H? weighted sensitivity minimization for rational plants, H2 controller and H? controller design. Prerequisites: Graduate Status. EL 621 and EL 725. Also listed under ME 870.

EL725 (State space design for linear control systems)

Topics to be covered included: canonical forms; control system design objectives; feedback system design by pole placement; linear observers; the separation principle; linear quadratic optimum control; random processes; Kalman filters as optimum observers; the separation theorem; robust control; the servo compensator problem.

EL 822 (Application of nonlinear control to robotics)

Differential geometric approaches for control of nonlinear systems and applications to robot manipulators. Introduction to Lie algebra and Lie bracket. Multivariable inverses for nonlinear systems, external feedback linearization, zero dynamics. Application of nonlinear control to robotics: inverse dynamics, feedforward control, PD and PID controllers, variable-structure control, adaptive control techniques (STR and MRAC), and force control. Prerequisite: Graduate Status. EL 725 (EL 522 is recommended but not essential). Also listed under ME 860.

EL 823 (Optimal control theory)

Optimal control problem for deterministic systems with various constraints. Solution for both continuous and discrete-time systems using the maximum principle and dynamic programming. Hamilton-Jacobi theory as applied to the synthesis problem. Prerequisite: Graduate Status. EL 723 and EL 625. Also listed under ME 771.

EL 825 (Large scale systems and decentralized control)

Introduction to analysis and synthesis of large scale systems. System order reduction algorithms, interconnected system stability, series expansion and singular perturbation. Decentralized control: decentralized fixed modes, LQR, frequency shaped cost functionals, and overlapping decompositions. Prerequisites: Graduate Status. EL 725 or instructor permission. Also listed under ME 873.

EL 826 (Adaptive control)

Controllable and observable system models (ARMA models), parameter estimation (least squares, projection algorithm, lattice filters), one and multi-step ahead prediction control, minimum variance, pole placement, LQG control, model reference adaptive control. Prerequisite: Graduate Status. EL 725 or equivalent. Also listed under ME 871.

EL 827 (Stochastic control)

Introduction to stochastic control, stochastic processes, covariance and spectral density, stochastic state models, spectral factorization of continuous or discrete time processes, parametric optimization, introduction to prediction and filtering theory: Wiener and Kalman filters. Prerequisite: Graduate Status. EL 625 and EL 631. Also listed under ME 872.