## Fall 2015 – EE 5243: Optimization and Control of Cyber-Physical Systems

**Course Description and General Information**

Modeling, analysis and design of cyber-physical systems (CPS). The course serves as an introductory graduate level-class for students interested in CPSs in general, and control and optimization of CPSs in specific. The fundamentals of CPSs are covered in the class, with emphasis on the control and the optimization aspects. Covered CPS topics include: networked control systems, cyber-attacks, linear systems theory and design, state-estimators, fault-tolerant controllers and observers, and convex, multi-objective, bi-level & multi-time scale optimization. Applications in smart-grids are discussed.

**Location: AET 0.214****Time: MW 18:00 – 19:15****Office Hours:**- Mondays, 14:00 – 15:00
- Wednesdays, 16:00 – 17:00
- Or by appointment

**Course material will be regularly updated on UTSA’s blackboard**

Course Syllabus

#### Lecture Notes*

*Modules are organized based on topics covered in class. Each Module is equivalent to 2–4 lectures.

- Module 1: Course introduction and syllabus, CPS background, tentative schedule
- Module 2: Prerequisite Assessment Exam + Solutions
- Module 3: Linear Systems Theory, Introductory Background
- Module 4: Optimization Problems, KKT Conditions & Solvers
- Module 5: Optimal Control, Dynamic Programming, LQR + Examples
- Module 6: Introduction to Model Predictive Control
- Module 7: Dynamic State Estimation & Observer Design
- Module 8: Networked Control Systems for CPSs
- Module 9: Decentralized Networked Control Systems
- Module 10: Exploiting Linear Matrix Inequalities In Control Systems Design — A lecture by Ankush Chakrabarty from ECE 680, Purdue University.

#### Final Exam

#### Homework Assignments

- Homework 1
- Assessment Exam, Homework 2
- Homework 3, Homework 3 Solutions, best student solutions
- Homework 4, Homework 4 Solutions, best student solutions
- Homework 5, Homework 5 Solutions, best student solutions
- Homeworks 6-7, Homework 6-7 Solutions, Download the codes and run main.m to generate the solutions.

#### Quizzes

- Quiz 1 Quiz 1 Solutions
- Quiz 2 Quiz 2 Solutions
- Quiz 3 Quiz 3 Solutions
- Quiz 4 Quiz 4 Solutions
- Quiz 5 Quiz 5 Solutions
- Quiz 6 Quiz 6 Solutions
- Quiz 7 Quiz 7 Solutions
- Quiz 8 Quiz 8 Solutions
- Quiz 9 Quiz 9 Solutions
- Quiz 10 Quiz 10 Solutions
- Quiz 11 Quiz 11 Solutions

#### Research papers and interesting reads

##### On Networked Control Systems for CPSs

- Book on NCSs — Very thorough
- Stability Analysis of Networked Control Systems
- Survey on Networked Control Systems (2007, a bit outdated now)
- UIO Design for NCSs Subject to Time-Delays & Unknown Inputs

##### On Observers

- Introduction to Observers
- Another Introduction to Observers
- Luenberger’s Initial Original Work
- Observer Design for Nonlinear Systems with Unknown Inputs
- Observer Design for Linear Systems with Unknown Inputs (SMO + Linear Observers)
- Simple Observer Design for Nonlinear Systems

##### On Optimal Control

- 300 Years Of Optimal Control
- Pontryagin’s Minimum Principle
- MPC Introduction
- MPC Book + MATLAB Implementations