525.777.81 - Control System Design Methods

Course Structure

The course materials are divided into modules which can be accessed by clicking Course Modules on the course menu. A module will have several sections including the overview, content, readings, discussions, and assignments. You are encouraged to preview all sections of the module before starting. There are weekly lectures, though the associated assignments cover two (2) week periods. You should regularly check the Calendar and Announcements for assignment due dates.

Course Goals

To understand the theoretical foundations and apply advanced control design techniques to multi-input, multi-output dynamic systems. Additionally, assess the stability and robustness properties of the designed systems as well as understand the conditions that allow effective application of the covered design techniques.

Course Learning Outcomes (CLOs)

• Formulate complex control system problems involving multiple control inputs, multiple sensor outputs, and highly coupled dynamics.
• Develop frequency domain performance and stability design objectives from system specifications.
• Assess the assumptions that allow the application of major control design techniques used currently.
• Synthesize robust control system designs that are tolerant to system parameter variations and unknowns using MATLAB.
• Apply nonlinear and adaptive control methods to systems with large variations or poorly known dynamics.

Textbooks

There is no required textbook. However, the following references may be used to expand lecture content.

Primary Reference: Burl, J. B. (1999). Linear optimal control: H2 and H∞ methods. Addison-Wesley.

Supplementary References:Robust Control:

• Lin, F. (2007). Robust control design. Wiley
• Zhou, K. (1998). Essentials of robust control. Prentice-Hall
• Maciejowski, J. M. (1989). Multivariable feedback design. Prentice-Hall
• Green, M. & Limebeer, D. (1995). Linear robust control. Prentice-Hall
• K. Zhou (1996). Robust and optimal control. Prentice-Hall

Basic Control Design (quadratic regulators):

• Kwakernaak, H. and Sivan, R. (1992). Linear optimal control systems. John Wiley
• Friedland, B. (1986). Control system design. McGraw-Hill
• Friedland, B. (1996). Advanced control system design. Prentice-Hall
• Dorato, P. (1995). Linear quadratic control. Prentice-Hall

Linear System Theory:

• Brogan, W. L. Modern control theory. Prentice-Hall
• Kailath, T. (1980). Linear systems. Prentice-Hall
• Strang, G. (1980). Linear algebra and its applications. Academic Press
• Chen, C. T. System theory linear and design.
• Holt, Rinehart, and Winston (1984)   

Required Software

MATLAB
You will need access to a recent version of MATLAB including the Control System Toolbox and the Robust Control Toolbox. A license is provided at no cost to you through JHU. Visit the JHU IT Services Portal. Log in with your JHED ID and type “MATLAB” in the search bar. Click on “MATLAB for Students” in the search results and follow the instructions provided.

Student Coursework Requirements

Each module is expected to take approximately 7–10 hours per week to complete. Here is an approximate breakdown:

• Watching the video lectures (1–2 hours per week)
• Reviewing the accompanying lecture slides (2–3 hours per week)
  
• Assignments (3–4 hours per week)
• Attending office hours (1 hour per week)

Assignments constitute an essential part of the coursework, enabling you to understand principles and techniques. They will consist of MATLAB exercises with an associated discussion board, assignments, and a final project. Note that MATLAB exercises are primarily instructional with student participation. All assignments must be completed independently. 

All assignments are due on the dates specified in the Calendar. Late submissions cannot be accepted in fairness to the other students. Under extenuating circumstances, accommodations can be made. Late submissions will be reduced by one letter grade for each week late (no exceptions will be made without prior coordination with the instructors). 

This course will consist of the following basic student requirements:
MATLAB Exercises (10% of Total Grade)Each module will contain self-directed MATLAB exercises to familiarize you with the application of MATLAB to the presented design techniques. MATLAB exercises are assigned and due on alternate weeks. With the exception of MATLAB Exercise 1, which is due in Module 2, you will have at least two weeks to complete each exercise.
Develop your MATLAB Exercise solutions as a MATLAB Live Script (with generated results and figures) and submit the file. Solutions will be posted after the due date. Discussion Participation (5% of Total Grade)The discussion forums will be used to discuss questions from the MATLAB exercises and lectures. Each student must post at least one question by day 4 for each module week. You must then respond to at least one of your classmates' original posts by day 3 of the next module week. You may also post questions about the videos. When posting questions, provide the relevant module, lecture, or assignment numbers, where applicable.
Be thoughtful in your posts and responses to your classmates' posts. Feel free to agree or disagree with your classmates, but ensure that you are civil and constructive in your responses.
Assignments (75% of Total Grade)Assignments will entail detailed design problems. They will be assigned on alternate weeks between MATLAB exercises and will typically consist of 5 or 6 questions, equally weighed, with each question graded based on the degree of understanding. They must be completed individually. Assignment solutions will be posted after the due date.
Project (10% of Total Grade)
A course project will be assigned several weeks into the course. Students may select the final project based on a published paper in the technical literature. As an option, students may select from project problems distributed by the instructors.Additionalspecific guidelines will be discussed during the course. The required effort should be comparable to a regular assignment.

Grading Policy

Assignments are due according to the dates posted in your Blackboard course site. You may check these due dates in the Course Calendar or the Assignments in the corresponding modules.We will post grades within week after assignment due dates.
A grade of A indicates achievement of consistent excellence and distinction throughout the course—that is, conspicuous excellence in all aspects of assignments and discussion in every week.

A grade of B indicates work that meets all course requirements on a level appropriate for graduate academic work. These criteria apply to both undergraduates and graduate students taking the course.

EP uses a +/- grading system (see “Grading System”, Graduate Programs catalog, p. 10).  

100-98 = A+
97-94 = A
93-90 = A−
89-87 = B+
86-83 = B
82-80 = B−
79-77 = C+
76-73 = C
72-70 = C−
69-67 = D+
66-63 = D
<63 = F

Final grades will be determined by the following weighting:

Assignment	% of Total Grade
MATLAB Exercises	10
Discussion Participation	5
Assignments	75
Project	10

Academic Policies

Deadlines for Adding, Dropping and Withdrawing from Courses

Students may add a course up to one week after the start of the term for that particular course. Students may drop courses according to the drop deadlines outlined in the EP academic calendar (https://ep.jhu.edu/student-services/academic-calendar/). Between the 6th week of the class and prior to the final withdrawal deadline, a student may withdraw from a course with a W on their academic record. A record of the course will remain on the academic record with a W appearing in the grade column to indicate that the student registered and withdrew from the course.

Academic Misconduct Policy

All students are required to read, know, and comply with the Johns Hopkins University Krieger School of Arts and Sciences (KSAS) / Whiting School of Engineering (WSE) Procedures for Handling Allegations of Misconduct by Full-Time and Part-Time Graduate Students. This policy prohibits academic misconduct, including but not limited to the following: cheating or facilitating cheating; plagiarism; reuse of assignments; unauthorized collaboration; alteration of graded assignments; and unfair competition. Course materials (old assignments, texts, or examinations, etc.) should not be shared unless authorized by the course instructor. Any questions related to this policy should be directed to EP’s academic integrity officer at ep-academic-integrity@jhu.edu.

Students with Disabilities - Accommodations and Accessibility

Johns Hopkins University is committed to providing welcoming, equitable, and accessible educational experiences for all students. If disability accommodations are needed for this course, students should request accommodations through Student Disability Services (SDS) as early as possible to provide time for effective communication and arrangements.  For further information about this process, please refer to the SDS Website.

Student Conduct Code

The fundamental purpose of the JHU regulation of student conduct is to promote and to protect the health, safety, welfare, property, and rights of all members of the University community as well as to promote the orderly operation of the University and to safeguard its property and facilities. As members of the University community, students accept certain responsibilities which support the educational mission and create an environment in which all students are afforded the same opportunity to succeed academically.  For a full description of the code please visit the following website: https://studentaffairs.jhu.edu/policies-guidelines/student-code/

Classroom Climate

JHU is committed to creating a classroom environment that values the diversity of experiences and perspectives that all students bring. Everyone has the right to be treated with dignity and respect. Fostering an inclusive climate is important. Research and experience show that students who interact with peers who are different from themselves learn new things and experience tangible educational outcomes. At no time in this learning process should someone be singled out or treated unequally on the basis of any seen or unseen part of their identity.    If you have concerns in this course about harassment, discrimination, or any unequal treatment, or if you seek accommodations or resources, please reach out to the course instructor directly. Reporting will never impact your course grade. You may also share concerns with your program chair, the Assistant Dean for Diversity and Inclusion, or the Office of Institutional Equity. In handling reports, people will protect your privacy as much as possible, but faculty and staff are required to officially report information for some cases (e.g. sexual harassment).

Course Auditing

When a student enrolls in an EP course with “audit” status, the student must reach an understanding with the instructor as to what is required to earn the “audit.” If the student does not meet those expectations, the instructor must notify the EP Registration Team [EP-Registration@exchange.johnshopkins.edu] in order for the student to be retroactively dropped or withdrawn from the course (depending on when the "audit" was requested and in accordance with EP registration deadlines). All lecture content will remain accessible to auditing students, but access to all other course material is left to the discretion of the instructor.