CUHK > Faculty of Engineering > Department of Automation and Computer-Aided Engineering

Online Resources Inverted pendulum Syllabus (pdf) Historical background Matlab optimization toolbox Tutorials Homework Assignments Assignment #1 - Due: - Solution Assignment #2 - Due: - Solution ... Slides Schedule ACAE Links B.Eng. Programme MPhil. Programme (pdf) PhD Programme (pdf) CUHK Calendar

ACE 3140 & 5050 No headlines SPECIAL INFORMATION None TEXBOOK Optimal Control - F.L. Lewis & V.L. Syrmos, 2nd Edition, John Wiley & Sons, 1995 (at Amazon), available at the University Bookstore on campus TUTORS TBD EXAMINATIONS Midterm Examination - TBD Final Test - TBD GRADING Homework assignments: Midterm: Final Test: Case Study: 20% 30% 50% (30% for postgraduate) 20% (only for postgraduate) TOPICS Calendar Chapter 1 Static Optimization (Annex A, Sections 1.1 and 1.2) Week 1, 2 Chapter 2 Optimal Control of Discrete-Time Systems (Sections 2.1, 2.2, 2.3, and 2.4) Week 2, 3 & 4 Chapter 3 Optimal Control of Continuous-Time Systems (Sections 3.1, 3.2, 3.3, and 3.4) Week 5, 6 Chapter 4 The Tracking Problem and Other LQR Extensions (Sections 4.1 and 4.4) Week 6 Review & Midterm Examination Week 7 Chapter 5 Final-Time-Free and Constrained Input Control (Sections 5.1 and 5.2) Week 8 Predictive Control Week 9 Chapter 6 Dynamic Programming (Section 6.1, 6.2 and 6.3) Week 10 & 11 Chapter 9 Selected Topics (Section 9.4) Week 12 Case Studies (see details bellow) Week 12 & 13 Selected Topics & Review Week 14 CASE STUDIES Calendar J.B. Aldrich and R.E. Skelton, Time-energy optimal control of hyper-actuated mechanical systems with geometric path constraints, Proceedings of the ECC, Seville, Spain, December 12-15, 2005 A. Bogdanov, Optimal Control of a Double Inverted Pendulum on a Cart, Technical Report CSE-04-006, December 2004 M. Basin and J. Rodriguez-Gonzalez, Optimal Control for Linear Systems With Multiple Time Delays in Control Input, IEEE Transactions on Automatic Control, Vol. 51, No. 1, January 2006 R. N. Silva, J. M. Lemos, and L. M. Rato, Variable Sampling Adaptive Control of a Distributed Collector Solar Field, IEEE Transactions on Control Systems Technology, Vol. 11, No. 5, September 2003 Section 8.1: LQR with Output Feedback Section 8.2: Tracking a Reference Input A typical case study is the presentation of the application (including the dynamic model, 2-3 slides), the description of the objective index (in words and as a function, 1 or 2 slides), a description of the chosen approach to get the solution (2-3 slides) and results (2-3 slides). The students do not need to go into all the details of the paper, providing they are able to describe the elements mentioned previously. ATTRIBUTION Most of the slides have been adapted from Prof. Yam Yeung with permission (last year course) STATEMENT Attention is drawn to University policy and regulations on honesty in academic work, and to the disciplinary guidelines and procedures applicable to breaches of such policy and regulations. Details may be found at http://www.cuhk.edu.hk/policy/academichonesty/. With each assignment, students will be required to submit a statement that they are aware of these policies, regulations, guidelines and procedures. A download version can be found here.