ECE 3650: Optimal
Control (3 Credits, Fall 2022)
Description: This course introduces fundamental mathematics of
optimal control theory and implementation of optimal controllers for practical
applications. Topics to be covered include: static optimization, optimal
control of discrete-time systems, optimal control of
continuous-time systems, dynamic programming, and model-predictive control.
Prerequisite: Knowledge of linear system theory (ECE 2646).
Time and Place: Wednesday 6 pm−8:30 pm, 226 Benedum
Hall.
Instructors:
Dr.
Zhi-Hong Mao, (email) maozh@engr.pitt.edu,
(office hours) Monday 3:30 pm−5 pm via Zoom (link: https://pitt.zoom.us/j/6288281300).
Dr.
Ker-Jiun Wang, (email) kew88@pitt.edu.
Text: Frank L. Lewis, Draguna Vrabie, and Vassilis L. Syrmos, Optimal Control, 3rd Edition, John Wiley &
Sons, New York, 2012.
Course Evaluation: Homework 25%, class participation 10%, midterm exam
25%, and final exam 40%.
Tentative Schedule for
Lectures:
|
Date |
Topic |
|
|
August 31 |
Lecture 1: Course
organization and introduction to optimal control |
|
|
September 7 |
Lecture 2: Static
optimization |
Sections 1.1, 1.2, and A.4 |
|
September 14 |
Lecture 3: Optimal control
of discrete-time systems (I) |
Section 2.1 |
|
September 21 and 28 |
Lectures 4 and 5: Optimal
control of discrete-time systems (II): LQR |
Sections 2.2 and 2.3 |
|
October 5 |
Lecture 6: Optimal control
of discrete-time systems (III)
|
Section 2.3 |
|
October 12 |
Lecture 7: Optimal control
of continuous-time systems (I) |
Section 3.1 |
|
October 19 |
Midterm |
|
|
October 26 |
Lecture 8: Optimal control
of continuous-time systems (II) |
Section 3.2 |
|
November 2 |
Lecture 9: Optimal control
of continuous-time systems (III) |
Section 3.3 |
|
November 9 |
Lecture 10: The tracking
problem |
Sections 3.4, 4.1, and 4.4 |
|
November 16 |
Lecture 11: Dynamic
programming |
Sections 6.1 and 6.2 |
|
November 23 |
Thanksgiving recess |
|
|
November 30 |
Lecture 12: Introduction to
reinforcement learning (by Dr. Ker-Jiun Wang) |
|
|
December 7 |
Lecture 13: Review of
classes |
|
|
December 14 |
Final exam |
|
Course Policies:
Academic Integrity
Students in this course will be
expected to comply with the University of Pittsburgh's Policy on Academic
Integrity and the Swanson School of Engineering Policy. Any student
suspected of violating this obligation for any reason during the semester will
be required to participate in the procedural process, initiated at the
instructor level, as outlined in the University Guidelines on Academic
Integrity. This may include, but is not limited to, the confiscation of the
examination of any individual suspected of violating University Policy.
Furthermore, no student may bring any unauthorized materials to an exam,
including dictionaries and programmable calculators.
To learn more about Academic
Integrity, visit the Academic Integrity Guide for
an overview of the topic. For hands- on practice, complete the Understanding and Avoiding Plagiarism tutorial.
Disability Services
If you have a disability for
which you are or may be requesting an accommodation, you are encouraged to
contact both your instructor and Disability
Resources and Services (DRS), 140 William Pitt Union, (412)
648-7890, drsrecep@pitt.edu, (412) 228-5347 for P3
ASL users, as early as possible in the term. DRS will verify your disability
and determine reasonable accommodations for this course.
Statement on Classroom
Recording
To
ensure the free and open discussion of ideas, students may not record classroom
lectures, discussion and/or activities without the advance written permission
of the instructor, and any such recording properly approved in advance can be
used solely for the student's own private use.
Student
Opinion of Teaching Surveys
Students
in this class will be asked to complete a Student Opinion of Teaching Survey.
Surveys will be sent via Pitt email and appear on your Canvas landing page
during the last three weeks of class meeting days. Your responses are
anonymous. Please take time to thoughtfully respond, your feedback is important
to me. Read more about Student Opinion of
Teaching Surveys.
Equity,
Diversity, and Inclusion
The
University of Pittsburgh does not tolerate any form of discrimination,
harassment, or retaliation based on disability, race, color, religion, national
origin, ancestry, genetic information, marital status, familial status, sex,
age, sexual orientation, veteran status or gender identity or other factors as
stated in the University's Title IX policy. The University is committed to
taking prompt action to end a hostile environment that interferes with the
University's mission. For more information about policies, procedures, and
practices, visit the Civil
Rights & Title IX Compliance web page.
I ask
that everyone in the class strive to help ensure that other members of this
class can learn in a supportive and respectful environment. If there are
instances of the aforementioned issues, please contact the Title IX Coordinator,
by calling 412-648-7860, or e-mailing titleixcoordinator@pitt.edu. Reports can also be filed online.
You may also choose to report this to a faculty/staff member; they are required
to communicate this to the University's Office of Diversity and Inclusion. If
you wish to maintain complete confidentiality, you may also contact the University
Counseling Center (412-648-7930).