University of California at Berkeley
Department of Mechanical Engineering
ME 233: Advanced Control Systems IISpring 2016
URL: http://berkeley-me233.github.io
ME233 discusses advanced control methodologies and their applications to engineeringsystems, including but not limited to: Linear Quadratic Optimal Control, Stochastic State
Estimation, Kalman Filters, Linear Quadratic Gaussian Problems, Loop Transfer Recovery,
System Identification, Adaptive Control and Model Reference Adaptive Systems, Self Tuning
Regulators, Repetitive Control, Disturbance Observers.
Instructor

Teaching
AssistantTony Kelman
Office Hours:
Office:Email:
Yujia WuOffice Hours:
Office:Email:

TBD
5136 Etcheverry Hallkelman@berkeley.edu
TBD
yujia.wu@berkeley.edu

Lectures
Discussion

Tu, Th 3:30-5:00 in 150 Goldman School of Public Policy
W 4:00-5:00 in 3109 Etcheverry Hall

Grading
SchemeMidterm 1
Midterm 2
Final ExamHomework

ClassNotes

20% (open one page summary sheet)
20% (open one page summary sheet)
40% (open notes)
20% (Group discussion encouraged, but each student must
write up homework individually. Indicate with whom, ifanyone, you have discussed the homework problems.)
ME233 PowerPoint Lectures(These will be made available on the course website)
ME233 Class Notes by M. Tomizuka(This can be purchased at Copy Central, 2483 Hearst Avenue)

Week
1234567891011121314

Tentative Schedule (Subject to change):
TopicsDynamic Programming; Discrete-Time LQ optimal control; Probability Theory—Sample
Space, Random Variable, Cumulative Distribution and Probability Density Functions
Probability Theory—Random Processes, Correlation Function, Spectral Density
Least Squares Estimation; Stochastic State Estimation (Kalman Filter)
Stochastic Estimation, Kalman Filter (continued)
Linear Stochastic Control (Linear Quadratic Gaussian (LQG) Control)
Linear multivariable control; Loop Transfer Recovery
Frequency shaped LQ; Midterm Examination I
Tracking Control; Feedforward and Preview Control
Internal Model Principle and Repetitive Control
Disturbance Observer
System Identification and Adaptive Control; Midterm Examination II
Parameter estimation algorithms
Stability analysis of adaptive systems; Minimum Variance Regulation
Self-tuning regulators; Robustness of adaptive control systems

References:Probability


D. P. Bertsekas, Introduction to Probability, Athena Scientific
R.D. Yates and D.J. Goodman, Probability and Stochastic Processes, second edition,Willey.
K. Poolla, Probability Notes. The PDF file can be downloaded from the ME233 website
J. Walran, EECS126 class notes. The PDF file can be downloaded from the ME233
websiteLinear Quadratic Optimal Control
B.D.O. Anderson and J.B. Moore, Optimal Control: Linear Quadratic Methods, DoverBooks on Engineering (paperback), 2007. A PDF can be downloaded from:http://users.rsise.anu.edu.au/%7Ejohn/papers/index.html

Frank L. Lewis, Vassilis L. Syrmos, Optimal Control, Wiley-IEEE, 1995.

E. Bryson and Y-C. Ho, Applied Optimal Control: Optimization, Estimation, and Control,Wiley

Stochastic Control Theory and Optimal Filtering

R. Grover Brown and P. Hwang, Introduction to Random Signals and Applied Kalman
Filtering, Third Edition, Willey
Frank L. Lewis, L. Xie and D. Popa, Optimal and Robust Estimation, Second Edition
CRC
M. Grewal and A. Andrews, Kalman Filter, Theory and Practice, Prentice Hall
B.D.O. Anderson and J.B. Moore, Optimal Filtering, Dover Books on Engineering(paperback), New York, 2005. A PDF can be downloaded from:http://users.rsise.anu.edu.au/%7Ejohn/papers/index.html
K.J. Astrom, Introduction to Stochastic Control Theory, Dover Books on Engineering(paperback), New York, 2006.

Adaptive Control

Astrom, K. J. and Wittenmark, B., Adaptive Control, Addison Wesley, 2nd Ed., 1995.
G.C. Goodwin and K.S. Sin, Adaptive Filtering Prediction and Control, Prentice Hall,
1984.
S. Sastry and M. Bodson, Adaptive Control: Stability, Convergence, and Robustness,Prentice Hall, 1989. (Book can be downloaded fromhttp://www.ece.utah.edu/~bodson/acscr/ )M. Krstic, I. Kanellakopoulos, and P. V. Kokotovic, Nonlinear and Adaptive Control
Design, Willey.