Chapter 1
Lecture notes
1.1 Summary of lecture topics covered
1.2 Lecture 0. Tuesday September 3, 2014
1.3 Lecture 1: Introduction, mechanical system to ODE to state space
1.4 Lecture 2. Thursday September 5 2014
1.5 Lecture 3. Tuesday September 9 2014 (non-linear state space,
linearization, Laplace)
1.6 Lecture 4. Thursday September 11 2014
1.7 Lecture 5. Tuesday September 16 2014
1.8 Lecture 6. Thursday September 18 2014 (Realization theorem,
MIMO, state feedback)
1.9 Lecture 7. Tuesday September 23 2014
1.10 Lecture 8. Thursday September 25 2014 (Pole assignment,
state feedback)
1.11 Lecture 9. Tuesday September 30 2014
1.12 Lecture 10. Thursday October 2 2014 (no lecture)
1.13 Lecture 11. Tuesday October 7, 2014, 2:30 PM (Vector spaces
preliminaries, norms)
1.14 Lecture 12. Tuesday October 7 2014, 6:00 PM. First exam
1.15 Lecture 13. Thursday October 9 2014. Default norms, convergence,
Picard
1.16 Lecture 14. Tuesday October 14 2014 (More on convergence,
the 4 lemmas)
1.17 Lecture 15. Thursday October 16 2014 (More on converges, Lemmas)
1.18 Lecture 16. Tuesday October 21 2014
1.19 Lecture 17. Thursday October 23 2014
1.20 Lecture 18. Tuesday October 28, 2014 (solving the state equation)
1.21 Lecture 19. Thursday October 30 2014 (Controllability)
1.22 Lecture 20. Tuesday November 4 2014. (Controllability of LTV)
1.23 Lecture 21. Thursday Nov. 6, 2014, 2:30 PM (controllability,
Gramian, proofs)
1.24 Lecture 22. Thursday Nov. 6, 2014, 6:00 PM. Second Exam
1.25 Lecture 23. Tuesday November 11 2014 (no lecture)
1.26 Lecture 24. Thursday November 13 2014 (physical controllability)
1.27 Lecture 25. Tuesday November 18 2014
1.28 Lecture 26. Thursday November 20 2014 (Handout, Kharitonov’s
Theorem)
1.29 Lecture 27. Tuesday, November 25 2014 (no lecture)
1.30 Lecture 28. Thursday November 27 2014 (holiday)
1.31 Lecture 29. Tuesday December 1 2014
1.32 Lecture 30. Thursday December 4 2014
1.33 Lecture 31. Tuesday September 9 2014 (Review finals, Routh table)
1.34 Lecture 32. Thursday December 11 2014. Final Exam
This book is compilation of my own write up based on note taking during this course given by
Professor B. Ross Barmish. This book includes all the material for this course archived in one
place.
Most of the time I followed what was being said, but sometimes I added additional text.
Therefore, If there are any errors in these notes, all blame goes to me (the student) and not to
the instructor of the course.
I added copy of all my HWs in the appendix at the end. The key solutions are also
included.