Aims & Learning Objectives:
Aims: This course will provide standard results and techniques for solving systems of linear autonomous differential equations. Based on this material an accessible introduction to the ideas of mathematical control theory is given. The emphasis here will be on stability and stabilization by feedback. Foundations will be laid for more advanced studies in nonlinear differential equations and control theory. Phase plane techniques will be introduced.
At the end of the course, students will be conversant with the basic ideas in the theory of linear autonomous differential equations and, in particular, will be able to employ Laplace transform and matrix methods for their solution. Moreover, they will be familiar with a number of elementary concepts from control theory (such as stability, stabilization by feedback, controllability) and will be able to solve simple control problems. The student will be able to carry out simple phase plane analysis.
Systems of linear ODEs: Normal form; solution of homogeneous systems; fundamental matrices and matrix exponentials; repeated eigenvalues; complex eigenvalues; stability; solution of non-homogeneous systems by variation of parameters. Laplace transforms: Definition; statement of conditions for existence; properties including transforms of the first and higher derivatives, damping, delay; inversion by partial fractions; solution of ODEs; convolution theorem; solution of integral equations. Linear control systems: Systems: state-space; impulse response and delta functions; transfer function; frequency-response. Stability: exponential stability; input-output stability; Routh-Hurwitz criterion. Feedback: state and output feedback; servomechanisms. Introduction to controllability and observability: definitions, rank conditions (without full proof) and examples. Nonlinear ODEs: Phase plane techniques, stability of equilibria.