Department of Electrical Engineering

Curriculum of M. Tech (Power Control & Drives) FIRST SEMESTER Sl. No. 1 2 3 4 5 6 7 8 Sub. Code Subject EE 611 Machine Analysis EE 621 Power Electronic Converters & Machine Drives Professional Electives I Professional Electives II Professional Electives III EE 675 Power Electronics and Drives Laboratory I EE 677 Machines and Control Laboratory EE 685 Seminar & Technical Writing I TOTAL SECOND SEMESTER Sl. No. 1 2 3 4 5 6 7 8 Sub. Code Subject EE 612 Advanced Machine Drives EE 622 Advanced Power Electronic Converters Professional Electives IV Professional Electives V Professional Electives VI EE 676 Power Electronics and Drives Lab II EE 678 Power Electronics and Drives Simulation Lab EE 686 Seminar & Technical Writing II TOTAL THIRD SEMESTER Sl. No. 1 2 3 4 Sub. Code EE 687 EE 691 EE 693 EE 695 Subject Seminar & Technical Writing III Summer Research / Industrial Project Research Project Work I Research Project Review I TOTAL FOURTH SEMESTER Sl. No. 1 2 3 4 5 Sub. Code EE 688 EE 692 EE 694 EE 696 EE 699 Subject Seminar & Technical Writing IV Comprehensive Viva Voce Research Project Work II Research Project Review II Dissertation TOTAL L-T-P Credit 2 4 8 6 8 24 L-T-P Credit 2 4 8 8 22 L-T-P 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 0-0-3 0-0-3 0-0-3 Credit 4 4 4 4 4 2 2 2 26 L-T-P 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 0-0-3 0-0-3 0-0-3 Credit 4 4 4 4 4 2 2 2 26

LIST OF PROFESSIONAL ELECTIVES Sl.No 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 14. 15. 16. 17. 18. 19. 20. Sub. Code EE 604 EE 606 EE 607 EE 615 EE 616 EE 625 EE 626 EE 627 EE 634 EE 635 EE 636 EE 637 EE 645 EE 646 EE 664 EE 668 EE 681 EE 682 EE 683 EE 684 Subject Flexible AC Transmission Systems Transient in Power Systems Extra High Voltage transmission Power System Dynamics Electrical Energy Systems System and Control Theory State Space and Digital Control Robust and Optimal Control Robotics and Automation System Identification and Adaptive Control Intelligent Control Soft computing Techniques Adaptive Signal Processing Estimation of Signal and Systems Embedded Computing Systems Instrumentation and Sensors Special Topics in Electrical Engineering I Special Topics in Electrical Engineering II Special Laboratory in Electrical Engineering I Special Laboratory in Electrical Engineering II L-T-P 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 Credits 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 03/04 03/04 2 2

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LIST OF PROFESSIONAL ELECTIVES OFFERED BY OTHER DEPARTMENTS Sl. No 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 Sub. Code CH 641 CH 668 CR 645 CS 643 CS 649 EC 600 EC 620 EC 621 EC 622 EC 623 EC 624 EC 626 EC 628 EC 640 MA 522 MA 523 MA 524 MA 527 MA 551 Subject Bioenergy Engineering Evolutionary Computation Nanomaterials Embedded Systems VLSI System Design Architecture of DSP Modeling and circuit Simulators for VLSI Systems Digital VLSI Design Analog and Mixed mode VLSI HDL and High Level VLSI Embedded Computing System Low Power VLSI VLSI Signal Processing Pattern Recognition Application Operation Research Discrete Mathematics Statistical Methods Fractals Numerical Analysis L-T-P 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 Credits 4 4 4 4 4 4 4 4 4 4 4 4 4 4

20 21 22 23

MA 552 MA 553 PH 645 PH 646

Fuzzy logic and Set Theory Optimization Techniques Non-linear dynamics, Chaos and its recent applications Synchronization and its recent applications in Chaotic systems

3-1-0 3-1-0

4 4

SUMMARY OF COURSES Sub Discipline: EE 604 EE 606 EE 607 EE 611 EE 615 EE 616 Machines and Power Systems 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 4 4 4 4 4 4

Flexible AC transmission Systems Transient in Power Systems Extra High Voltage transmission Machine Analysis Power System Dynamics Electrical Energy Systems Control, Power Electronics and Drives

Sub Discipline: EE 612 EE 621 EE 622 EE 625 EE 626 EE 627 EE 634 EE 635 EE 636 EE 637

Advanced Machine Drives Power Electronic Converters & Machine Drives Advanced Power Electronic Converters System and Control Theory State Space and Digital Control Robust and Optimal Control Robotics and Automation System Identification and Adaptive Control Intelligent Control Soft computing Techniques

3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0

4 4 4 4 4 4 4 4 4 4

Sub Discipline: EE 645 EE 646 EE 664 EE 668

Electronics, Signal Processing and Communication 3-1-0 3-1-0 3-1-0 3-1-0 4 4 4 4

Adaptive Signal Processing Estimation of Signal and Systems Embedded Computing Systems Instrumentation and Sensors Laboratory Courses

Sub Discipline: EE 675 EE 676 EE 677 EE 678

Power Electronics and Drives Laboratory - I Power Electronics and Drives Laboratory - II Machines and Control Laboratory Power Electronics and Drives Simulation Laboratory Project, Seminar and Special Courses

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4 4 4 4

Sub Discipline: EE 681 EE 682 EE 683

Special Topics in Electrical Engineering I Special Topics in Electrical Engineering II Special Laboratory in Electrical Engineering I

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03/04 03/04 2

EE 684 EE 685 EE 686 EE 687 EE 688 EE 691 EE 692 EE 693 EE 694 EE 695 EE 696 EE 697 EE 698 EE 699

Special Laboratory in Electrical Engineering II Seminar & Technical Writing I Seminar & Technical Writing II Seminar & Technical Writing III Seminar & Technical Writing IV Summer Research / Industrial Project Comprehensive Viva-Voce Research Project Work - I Research Project Work - II Research Project Review I Research Project Review II Special Topic in Drives Special Topic in Power Control Dissertation

0-0-3 0-0-3 0-0-3 0-0-3 0-0-3 0-0-0 0-0-0 0-0-0 0-0-0 0-0-0 0-0-0

2 2 2 2 2 4 4 8 8 6 6

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DETAILED SYLLABI OF COURSES Sl. No. 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 14. 15. 16. 17. 18. 19. 20. Sub. Code EE 604 EE 606 EE 607 EE 611 EE 612 EE 615 EE 616 EE 621 EE 622 EE 625 EE 626 EE 627 EE 634 EE 635 EE 636 EE 637 EE 645 EE 646 EE 664 EE 668 Subject Flexible AC Transmission Systems Transient in Power Systems Extra High Voltage transmission Machine Analysis Advanced Machine Drives Power System Dynamics Electrical Energy Systems Power Electronic Converters & Machine Drives Advanced Power Electronic Converters System and Control Theory State Space and Digital Control Robust and Optimal Control Robotics and Automation System Identification and Adaptive Control Intelligent Control Soft computing Techniques Adaptive Signal Processing Estimation of Signal and Systems Embedded Computing Systems Instrumentation and Sensors L-T-P 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 3-1-0 Credits 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4

EE 604

FLEXIBLE AC TRANSMISSION SYSTEMS

4 Credits [3-1-0]

FACTS Concept and general system consideration: Transmission Interconnections, Flow of Power in AC Systems, Loading capability, Power flow and Dynamic Stability Considerations of a transmission interconnection, Relative Importance of Controllable Parameters, Basic types of FACTS Controller. ; Static Shunt Compensators: Objectives of Shunt Compensation, Methods of Controllable Var Generation, Static Var Compensators: SVC and STATCOM, Comparison between STATCOM and SVC, Static Var Systems. ; Static Series Compensators: Objectives of Series Compensation, Variable Impedance type Series Compensators, Switching Converter type Series Compensators, External Control for Series Reactive Compensators. ; Static Voltage and Phase angle Regulators: Objective of Voltage and phase angle regulators, Approaches to Thyristor-controlled voltage and phase angle regulators, switching converter-based voltage and phase angle regulators, Hybrid phase angle regulators. ; Combined Compensators: Unified power flow controller (UPFC) and Interline power flow controller (IPFC). Essential Reading: 1. N.G.Hingorani & L.Gyugyi, Understanding FACTS: Concepts and Technology of Flexible AC Transmission Systems, IEEE Press, 1999. Supplementary Reading: 1. X.P. Zang, C. Rehtanz and B. Pal, Flexible AC Transmission Systems: Modeling and Control, Birkhauser, 2006. 2. Y. H. Song and A. T. Johns, Flexible AC Transmission Systems, IET, 1999.

EE 606

TRANSIENTS IN POWER SYSTEMS

4 Credits [3-1-0]

Transients in lumped parameter circuits; transients in distributed parameter circuits, wave equations; switching surge studies in large systems-Dommels method. Multiconductor systems. Frequency domain approach. Surge response of transformers. Overvoltage protection. Insulation co-ordination. Lightning arresters. Generation and measurement of impulse voltages and currents. Impulse testing of equipments. Essential Reading: 1. L. V. D. Sluis, Transients in Power Systems, John Wiley, 2001. Supplementary Reading: 1. C. S. Indulkar and D. P. Kothari, Power System Transients A Statistical Approach, PHI, 2003. 2. P. Chowdhuri, Electromagnetic Transients in Power Systems, Research Studies Press, 2004. EE 607 EXTRA HIGH VOLTAGE TRANSMISSION 4 Credits [3-1-0]

Transmission line Trends and preliminaries, Corona effects-Power loss and audible noise, Radio Interface. Electrostatic field of EHV lines. General comparison of A.C and D.C. transmission, AC\DC converters and components, control and protection for HVDC systems. Reactive power management. Integrated AC-DC systems. Multi-terminal D.C. transmission. Essential Reading: 1. K. R. Padiyar, HVDC Power Transmission Systems, New Age, 1990. Supplementary Reading: 1. M. G. Dwek, EHV Transmission, Elsevier Sc., 1991. EE 611 MACHINE ANALYSIS 4 Credits [3-1-0]

Krons Primitive Machine: Basic equations, impedance and connection matrix. Example with DC, Induction and Synchronous machine. Transformation of machine equations (a-b-c to DQ-O to P-N-O), Operation of Induction machine under unbalanced conditions (stator voltage and impedance unbalance, Single phasing, Broken rotor bars). ; Analysis of Synchronous machine using D-Q reference frame attached to rotor, Concept of sub transients and transient armature inductances and field time constant, Operation of synchronous machine under asynchronous running, Hunting and small oscillations, Synchronizing and damping torques. ; Principles of electromagnetic energy conversion, Single and double excited systems. Production of electromagnetic torque. ; Field aspects of electrical machines: Vector potential; Classical two-dimensional analysis of air gap field in some simple cases. Field analysis and performance calculation in linear induction motor and linear synchronous motor. ; Finite element method of calculation vector potentials in machines and actual boundaries, magnetic saturation etc. Introduction to some FEM software packages. Essential Reading: 1. K. Mukhopadhyay, Matrix analysis of Electric Machines, New Age International, 2003. 2. N. Biranchi, Electrical Machines Analysis using Finite Elements, CRC Press, 2005. Supplementary Reading: 1. P.S. Bhimbra, Generalized Theory of Electrical Machines, Khanna Publishers, 2006. EE 612 ADVANCED MACHINE DRIVES 4 Credits [3-1-0]

Drive Concept: different machine and load characteristics, equilibrium and steady state stability, four quadrant operation, referred inertia and load torque for different coupling mechanism, thermal selection of machines; Separately excited dc motor drive: operating limits using armature voltage control and field control techniques, dynamic model(armature voltage control only) of machine and converters (continuous conduction only), open-loop dynamic performance, starting and reversal time, energy consumption, closed loop control using single (speed) and two loops (speed, current), implementation using circulating current type three phase dual converter and four quadrant transistorized chopper. State feedback control and sliding mode control of separately excited dc machine, modeling and control of separately excited dc machine in field weakening region and discontinuous converter conduction mode, control of dc series machine; Review of variable frequency operation of three phase symmetrical induction machine: scalar control methods (constant volts/Hz and airgapflux control), vector control of induction machine, methods of flux sensing/estimation, implementation of IRFO scheme using current controlled PWM VSI, implementation of DSFO scheme using GTO CSI, effect of machine parameter variation on the performance of vector controlled permanent magnet machine control; Introduction to speed control of Switched Reluctance machine. Induction motor drive, speed sensorless control, flux observation, Direct Torque Control; Speed control of wound rotor induction motors: static rotor resistance control, static scherbius drive using line commutated converter cascade, harmonics and power factor, vector control of wound rotor induction machine using self commutated converter cascade and improvement in power factor, introduction to variable speed constant frequency (VSCF) generation; Control of wound field synchronous machine: constant volts/Hz control, scalar self control (commutator less motor), vector control; Control of permanent magnet synchronous machine: Brushless dc machine, surface permanent magnet machine and interior. Essential Reading: 1. B. K. Bose, Modern Power Electronics and A.C. Drives, PHI, 2002. 2. G. K. Dubey, Power Semiconductor Controlled Drives, Prentice-Hall International, 1989. Supplementary Reading: 1. G. K. Dubey, Fundamentals of Electrical Drives, Narosa Publishing House, 2002. 2. W. Leonhard, Control of Electrical drives, Springer-Verlag, 1985. 3. P.C. Sen, Thyristor DC Drives, Wiley-Interscience Publication, Digitized on Dec, 2006. EE 615 POWER SYSTEM DYNAMICS 4 Credits [3-1-0]

Basic ideas about Steady-state, Dynamic and Transient stability, Modelling of synchronous machines, excitation systems and Governors. State-space formulation of single and multimachine models with control equipments. Application of numerical techniques to multimachine dynamic and transient stability studies. State-space formulation of single and multiarea models for L.F control. ; Application of modern optimization methods to power system control problems. Application of Lyapunov function to transient stability problems.

Essential Reading: 1. P.Kundur, N. J. Balu and M.G. Lauby, Power System Stability and Control, McGraw Hill Inc., New York, 1994. 2. P.Sauer & M.A.Pai, Power System Dynamics and Stability, Prentice Hall, 1999.

Supplementary Reading: 1. K. R. Padiyar, Power System Dynamics, Stability and Control, John Wiley, 1999. EE 616 ELECTRICAL ENERGY SYSTEMS 4 Credits [3-1-0]

Non-renewable reserves and resources; renewable resources, Transformation of Energy. Solar Power: Solar processes and spectral composition of solar radiation; Radiation flux at the Earths surface. Solar collectors. Types and performance characteristics. Applications. Wind Energy: Wind energy conversion; efficiency limit for wind energy conversion, types of converters, aerodynamics of wind rotors, power ~ speed and torque ~ speed characteristics of wind turbines, wind turbine control systems; conversion to electrical power: induction and synchronous generators, grid connected and self excited induction generator operation, constant voltage and constant frequency generation with power electronic control, single and double output systems, reactive power compensation; Characteristics of wind power plant. Applications. ; Tidal Energy: Wave characteristics. Conversion systems and their performance features. Application, Geothermal energy: Biological conversion of Energy. Essential Reading: 1. S. N. Bhadra, D. Kastha, S. Banerjee, Wind Electrical Systems: Oxford Univ. Press, 2005. Supplementary Reading: 1. S.A. Abbasi, N. Abbasi, Renewable Energy Sources and Their Environmental Impact: Prentice Hall of India, 2004. EE 621 POWER ELECTRONIC CONVERTERS & MACHINE DRIVES 4 Credits [3-1-0]

Power Electronic Devices: Diodes, Transistors, Thyristors, MOSFET and IGBT - operating principle, Static, dynamic and thermal characteristics, Data sheet ratings, gate drive circuits; Single phase half controlled and fully controlled AC/DC bridge converter with R, R-L, R-L-E (motor) loads: operation (both rectifier and inverter modes) , waveforms ,harmonics (output voltage/current and input current) assuming continuous conduction, input current (ac) displacement, distortion and power factor, effect of input line inductance assuming constant current dc load, closed form expression of output dc current with general R-L-E load, discontinuous conduction mode of operation, Torque-speed characteristics of converter controlled separately excited dc motor in continuous and discontinuous mode of conduction; Three phase half controlled and fully controlled AC/DC bridge converter assuming constant dc current load : operation in rectifier and inverter modes, waveforms, output voltage and input current harmonics, input power factor and effect of input line inductance, series and parallel operation of converters, power factor improvement, 12 pulse/18 pulse operation, transformer connection, dual converters; DC-DC choppers: basic voltage commutated thyristor chopper analysis , Separately excited DC motor drive using DC-DC choppers made of gate controlled devices, four quadrant operation, dynamic and regenerative braking of series DC motor using choppers; Basic DC-DC converters: buck, boost buck-boost and Cuk converter, operation, waveforms and design; DC-AC inverters using gate controlled devices: single phase and three phase square wave inverters, operation waveforms and harmonics in pole voltage, load phase voltage and line voltage, output voltage control in single phase square wave inverter using chopper control and phase shift, harmonic analysis, operating principles of single phase and three phase PWM inverters, modulation techniques, SPWM, Selective Harmonic Elimination PWM and delta modulation, harmonic spectrum and comparison among different PWM techniques; Variable frequency operation of three phase induction motors: Steady state analysis, Torque-speed , current-speed and slip frequency speed characteristics and operating limits with constant volts/Hz and constant air gap flux operation, implementation using PWM VSI.

Essential Reading: 1. N. Mohan, T.M. Undeland & W.P. Robbins, Power Electronics: Converter, Applications & Design, John Wiley & Sons, New York, 2003. 2. G. K. Dubey, Fundamentals of Electrical Drives, Narosa Publishing House, 2002. Supplementary Reading: 1. M.H. Rashid, Power Electronics, Circuits, Devices, and Applications, Pearson, 2003. 2. B. K. Bose, Modern Power Electronics and A.C. Drives, PHI, 2002. EE 622 ADVANCED POWER ELECTRONIC CONVERTERS 4 Credits [3-1-0]

Switched Mode Power Supply: Forward and flyback converter circuit, operation, waveforms and design, transformer design for power supplies, small signal analysis of DC-DC converters and closed loop control; Resonant DC-DC converters: operating principle, waveforms, switching trajectory and losses and control; PWM inverter modulation strategies: sine wave with third harmonic, space vector modulation and predictive current control techniques, Dynamic braking circuit, input side bidirectional power flow requirement for regeneration, Dual thyristor bridge and PWM rectifier; Three level inverter: basic topology and waveform, improvement in harmonics and high voltage application; Resonant ac link/dc link inverters; Cycloconverters: Circuit, operating principle, control, harmonics , power factor and applications; Non-drive application of power electronic converters: back to back HVDC transmission, induction heating, electronic ballast, UPS, static var compensators and active filters. Industrial PWM driver chips for power supplies such as UC 3843, 3825 or equivalent; Industrial gate driver chips for PWM voltage source inverters with isolation and protection circuits. Intelligent power modules Essential Reading: 1. N. Mohan, T. M. Underland & W.P. Robbing, Power Electronics: Converter, Applications & Design, John Wiley & Sons, New York, 2003. Supplementary Reading: 1. M. H. Rashid, Power Electronics Circuits, Devices, and Applications, Pearson, 2003. EE 625 SYSTEM AND CONTROL THEORY 4 Credits [3-1-0]

Review of matrices, linear vector space including semi group, group, rings, and fields ; State Space Description: State space representations of systems, state variable modeling of dynamical systems in continuous and discrete-time systems, transfer functions, solution of state equation, transient response, stability of linear systems, Lyapunov methods. ; System Analysis: controllability, observability, duality, equivalent systems, system decomposition, diagonal form, controllable and observable canonical forms, state space realizations and minimal realizations. ; State Feedback Design: State variable feedback, pole placement for single and multivariable systems, optimal control concept, solution of linear quadratic regulator, system decoupling, direct transfer function design procedures. ; State Estimation and Servo Control: State observer, reduced order observers, combined observer-controller system, integral control, asymptotic tracking and regulation, robust servo control design. ; Nonlinear system Dynamics & Control: Analysis of Modelling equations: state-plane Analysis, Numerical Techniques, Principles of linearization, Describing function methods ; Introduction to Nonlinear Control Techniques: sliding mode control, feedback linearization methods Essential Reading: 1. S.H. Zak, Systems and Control, Oxford Univ. Press, 2003. 2. H.K. Khalil, Nonlinear Systems, Prentice Hall, N.J., 2002.

Supplementary Reading: 1. R. C. Dorf and R. H. Bishop, Modern Control Systems, Prentice Hall, 2001 2. K. Ogata, Modern Control Engineering, Pearson, 2006 EE 626 STATE SPACE AND DIGITAL CONTROL 4 Credits [3-1-0]

Signal Processing in Digital Control, Models of Digital Control Devices and Systems, Stability of discrete systems: location of poles, Jury's stability criterion, stability analysis through bilinear transforms. ; Design of Digital Control Algorithms, control system analysis using state variable methods, state variable analysis of digital control systems, Lyapunov stability analysis, Linear Quadratic Optimal Control, Nonlinear Control systems, neural networks and fuzzy logic for control. ; Digital Control Implementations in Microprocontrollers. Essential Reading: 1. M. Gopal, Digital Control and State Variable Methods, TMH, 2003 2. D. Ibrahim, Micro-controller based Applied Digital Control, John Wiley & Sons Ltd., 2006 Supplementary Reading: 1. R.C. Dorf, R H Bishop; Modern Control Systems, 9th edition, Prentice Hall 2001. 2. G.F. Franklin, J. D. Powell, M.L. Workman, Digital Control of Dynamic Systems Pearson, 2008 EE 627 ROBUST AND OPTIMAL CONTROL 4 Credits [3-1-0]

Introduction to modern H2 and H optimal controller design, and to LMI-based synthesis techniques for such controllers and for multi-objective design. Optimal regulator problem with finite time horizon, Riccati differential equation ; Time-varying and steady state solutions, algebraic Riccati equation, Hamiltonian system ; Kalmans identity, phase margin of LQR controllers, spectral factorization ; Optimal state estimation, Kalman filter, LQG control, Generalized plant, review of LQG control ; Signal and system norms, computing H2 and H norms ; Singular value plots, input and output directions ; Mixed sensitivity design, H loop shaping, choice of weighting filters ; Case study: design example flight control ; Linear matrix inequalities, design specifications as LMI constraints (H2, H and pole region) ; Controller synthesis by solving LMI problems, multi-objective design ; Robust control of uncertain systems, small gain theorem, representation of parameter uncertainty ; Balanced realization and model order reduction ; Calculus of Variations : problems of Lagrange,. Mayer and Bolza. Euler-Language equation and transversality conditions, Lagrange multipiliers. ; Pontryagins maximum principle; theory; application to minimum time, energy and control effort problems, and terminal control problem. ; Dynamic programming: Belamans principle of optimality, multistage decision processes. Application to optimal control. ; Linear regulator problem: matrix Riccati equation and its solution, tracking problem. ; Computational methods in optimal control application of mathematical programming. Singular perturbations, practical examples. Essential Reading: 1. M. Athans and P.L. Falb, Optimal Control, McGraw Hill, 2007. 2. S.P. Sethi and G.L. Thompson, Optimal Control Theory, 2nd edition, Kluwer Academic Publishers, 2000. Supplementary Reading: 1. D.P. Bertsekas, Dynamic Programming and Optimal Control, Volume I, 3rd edition, Athena Scientific, 2005. 2. M. Green, D.E. Johnson and D.J. N. Limebeer, Linear Robust Control, Prentice Hall, Digitized Dec 2007

EE 634

ROBOTICS AND AUTOMATION

4 Credits [3-1-0]

Transformations and Kinematics of Position: Homogeneous transformations; Rotation matrices; Three and four parameter representations for orientation; Mathematical Singularities; Robot kinematic modeling; Forward kinematics; Inverse kinematics problem: closed-form and numerical solutions; Concept of decoupling. ; Kinematics of Velocity and Robot Statics: Translational and rotational velocities; Velocity transformations; Jacobian transformations; Derivatives of homegeneous transformation matrices; Forward kinematics; Inverse kinematics of velocity; Static force/torque transformations; Recursive equations of motion and static force/torque relationships. ; Trajectory Planning and Kinematic Control: Point-to-point vs Continuous motion. Polynomials. Linear functions with parabolic blends. Via points. Cartesian paths. Kinematic control. ; Robot Dynamics: Euler-Lagrange equations; Lagrangian approach to robot dynamics; Actuator dynamics; Properties of the robot dynamic model: inertial coefficients, centrifugal and coriolis coefficients, and gravity terms. NewtonEuler formulation of robot dynamics; Computational considerations. ; Robot Positional Control: Independent joint control: based on PD and PID compensators, based on feed forward control; State-space modelling and analysis; Lyapunov stability analysis; Multivariable PD control; Computed-Torque control; Implementaion and robustness issues; Cartesian based control schemes; Robust control methods; Adaptive control methods. ; Robot Compliance and Force Control: Compliance and stiffness; Force control in a single DOF system; Impedance control; Hybrid force and position control; Stability issues and other problems; Simultaneous force / position; control of constrained robots. ; Discrete geometry and quantization, length estimation, automated visual inspection, object recognition and matching, depth perception problems, stereo geometry and correspondences, motion analysis, optical flow, multi-resolution processing of images, application of computer vision, remote sensing, target tracking. Essential Reading: 1. L. Sciavicco and B. Siciliano, Modeling and Control of Robot Manipulators. Springer, 2007 2. F.L. Lewis, D.M. Dawson, and C.T. Abdallah, Robot Manipulator Control: Theory and Practice, Revised and Expanded, Marcel Dekker, New York, 2004. 3. K.S. Fu, R.C. Gonzalez and C.S.G. Lee, Robotics: Control, Sensing, Vision, and Intelligence, McGraw Hill, NY, 1987. Supplementary Reading: 1. J.J.Craig, Introduction to Robotics, Mechanics and Control, 2nd edition, Addison Wesley, MA. Digitized, Dec 4, 2007. 2. R.J. Schilling, Fundamentals of Robotics Analysis and Control, Prentice Hall, NJ, Digitized Dec 5, 2007 EE 635 SYSTEM IDENTIFICATION & ADAPTIVE CONTROL 4 Credits [3-1-0]

Introduction and overview of Systems Identification, Adaptive Control and applications. Parameter Estimation: Least Square, Generalized and Recursive Least Square, Estimator properties including error bounds and convergence, MES, ML and MAP estimators, Nonlinear Least Squares. Model Structures and Predictors. Recursive Identification of Linear dynamic systems: RLS, ELS, IV, RML, Stochastic Approximation, Extended Kalman Filter, generalized prediction error framework and its application to ARMA and state models, convergence analysis, Time varying parameters. Nonlinear System Identification. ; Adaptive schemes. Adaptive control theory. Applications. Situations when constant Gain feedback is insufficient. ; Robust control. ; The adaptive control problem. ; The model following problem. MRAS based on stability theory. Model following when the full state is measurable. Direct MRAS for general linear systems. Prior knowledge in MRAS. MRAS for partially known

systems. Use of robust estimation methods in MRAS. ; The basic idea. Indirect self-tuning regulators. Direct Self-tuning regulators. Linear Quadratic STR. Adaptive Predictive control. Prior knowledge in STR.; Linear-in-the-parameters model. Least squares estimation. Experimental conditions. Recursive estimators. Extended least squares. Robust estimation methods (dead zone, projection).Implementation issues. ; Nonlinear System Identification Techniques Essential Readings: 1. K.J. Astrom and B. Wittenmark, Adaptive Control, Addison, Pearson 2006. 2. L. Ljung, System Identification Theory for the user, Prentice-Hall, 2007. Supplementary Reading: 1. K.S. Narendra and A.M. Annaswamy, Stable Adaptive Systems, Prentice-Hall, 1989. 2. Landau and Zito, Digital Control Systems: Design, Identification and Implementation, Springer, 2006 EE 636 INTELLIGENT CONTROL 4 Credits [3-1-0]

MATLAB and SIMULINK: Introduction, Control Toolbox, System Identification Toolbox, Fuzzy Logic Toolbox, Neural Network Toolbox, Genetic Algorithm Toolbox. ; System Identification and Adaptive Control: Discrete-time models, least squares estimation, recursive least squares estimation, self-tuning regulator. ; Artificial Neural Networks Applications to System Identification & Control: Introduction, learning with ANNs, single-layer networks, multi-layer perceptrons, ANNs for identification, ANNs for control. ; Fuzzy Logic Control: Introduction, fuzzy sets, fuzzy logic, fuzzy logic controller design, Fuzzy Modelling & identification, Adaptive Fuzzy Control Design. ; Evolutionary Computation for Control & identification: Applications of EC methods to system identification and control. ; Combination of Soft Computation Approaches Control & Identification: Neuro-fuzzy, evolutionary neuro and evolutionary fuzzy systems Essential Reading: 1. D Driankov, H Hellendoorn, M Reinfrank, An Introduction to Fuzzy Control, SpringerVerlag, 2001. 2. Li-Xin Wang, A Course in Fuzzy Systems and Control, Prentice Hall, Digitized 2007 3. K.F. Man, K.S.Tang, S. Kwong and W.A. Halang, Genetic Algorithms for Control, Springer, Digitized in 2007. Supplementary Reading: 1. Li-Xin Wang, Adaptive Fuzzy Systems and Control: Design and Stability Analysis, 2007 2. S.H. Zak, Systems and Control, Oxford Univ. Press, 2003. EE 637 SOFT COMPUTING TECHNIQUES 4 Credits [3-1-0]

Introduction: What is SC? Why is it useful? Fuzzy Set Theory: Fuzzy Sets, Fuzzy Set operations, Fuzzy Rules and Fuzzy Reasoning, Extension Principle and fuzzy relations, fuzzy compositions, Fuzzy Reasoning, Fuzzy Inference Systems Extension principle, Fuzzy Inference Systems (Mamdani Fuzzy Models, defuzzification methods, Sugeno Fuzzy Models), Fuzzy Modelling and identification. ; Neural Networks: Biological neurons and memory: Structure and function of a single neuron; Artificial Neural Networks (ANN); Typical applications of ANNs : Classification, Clustering, Vector Quantization, Pattern Recognition, Function Approximation, Forecasting, Control, Optimization; Basic Approach of the working of ANN - Training, Learning and Generalization. ; Supervised Learning: Single-layer networks; Perceptron-Linear separability, Training algorithm, Limitations; Multi-layer networks-Architecture, Back Propagation Algorithm (BTA) and other training algorithms, Applications. Adaptive Multi-layer networks-Architecture, training algorithms; Recurrent

Networks; Feed-forward networks; Radial-Basis-Function (RBF) networks. ; Unsupervised Learning: Winner-takes-all networks; Hamming networks; Maxnet; Simple competitive learning; Vector-Quantization; Counter propagation networks; Adaptive Resonance Theory; Kohonen's Self-organizing Maps; Principal Component Analysis. Associated Models: Hopfield Networks, Brain-in-a-Box network; Boltzmann machine. ; Evolutionary Computation: Different variants, Genetic Algorithm. ; Hybrid Systems: ANFIS, Fuzzy Filtered NN & Neural Fuzzy Systems, GA tuned Fuzzy System Essential Reading: 1. S. Haykin, Neural Networks: A Comprehensive Foundation, Pearson, 2006 2. T. J. Ross, Fuzzy Logic with Engineering Application, John Wiley and Sons, 2004. 3. D.B. Fogel, Evolutionary Computation, IEEE Press, 2003. Supplementary Reading: 1. Konar, Computational Intelligence: Principles, Techniques and Applications, Spinger -Verlag, 2005 2. V. Kecman, Learning & Soft Computing, Pearson, 2006 EE 645 ADVANCED SIGNAL PROCESSING 4 Credits [3-1-0]

The Adaptive Linear combiner, Wiener Filters, Normal Equation, Principle of Orthogonality, Minimum Mean square Error, Linear Prediction, The Levinson-Durbin Algorithm, lattice Predictors, The Inverse Filtering using Lattice Structure, Adaptive Transversal Filter using Gradient Vector Estimation, LMS Algorithm and its convergence analysis, LMS Algorithm in a non-stationary environment, Recursive least square lattice filter, Application of Adaptive filters. Essential Reading: 1. B. Widrow, Adaptive Signal Processing, Pearson, 2002. Supplementary Reading: 1. S. Haykin, Adaptive Filter Theory, Pearson, 2007 EE 646 ESTIMATION OF SIGNALS AND SYSTEMS 4 Credits [3-1-0]

Introduction to probability theory and statistics. Static state estimation, recursive least squares (RLS). Statistically consistent estimation. Weighted L.S. Dynamic state estimation, Kalman filter and square root Kalman filter. System Identification, parametric models. L.S estimation, bais. Generalized least square (GLS) and instrumental variable (IV). Persistently exciting input signals. Likely functions and maximum likelihood estimation (MLE). ; Cramer Rao lower bound, Singular value decomposition (SVD).Stochastic approximation algorithm (STA) and convergence. Non-parametric estimation. Order and structure determination. PMM and PMM; rank collapse condition, Yule-Walker equation. Multivariable system representation. Controllability and observability indices, Guidorzis formulation. Volterra series representation of non-linear systems. Introduction to time-series analysis, Autocorrelation function (ACF) and partial ACF, their use. Non-stationary time series model, ARIMA and SARIMA. ; Introduction to linear least square estimation: a geometric approach. Wiener filter, Levinson filter, updating QR filter and the Kalman filter. Filter implementation structures : lattice, ladder and the systolic QR. Stochastic realization theory (modelling given the covariance). Modelling given the raw data. Spectral estimation. ; Recursive least squares identification algorithms: Levinson-type, Kalman-type and the QR-type. ; Nonlinear System Identification Techniques Essential Reading: 1. M. S. Grewal and A. P. Andrews, Kalman Filtering: Theory and Practice using MATLAB, Wiley, 2001

2. F.L. Lewis, L. Xie, and D. Popa, Optimal & Robust Estimation: With an Introduction to Stochastic Control Theory, John Wiley and Sons, New York, 2007. Supplementary Reading: 1. O. Nells, Nonlinear System Identification, Springer, 2007 EE 664 EMBEDDED COMPUTING SYSTEMS 4 Credits [3-1-0]

Introduction to embedded system: Single purpose hardware and software. Architectural Issues: CISC, RISC, DSP Architectures. Component Interfacing: Interrupt, DMA, I/O Bus Structure, I/O devices. Software for Embedded Systems : Program Design and Optimisation techniques, O.S for Embedded Systems, Real-time Issues. Designing Embedded Systems: Design Issues, Hardware-Software Co-design, Use of UML. Embedded Control Applications: Open Loop and Closed Loop Control, Software Coding of PID Controller, applications washing machine, automobiles. Networked Embedded Systems: Distributed Embedded Architectures, Protocol Design issues, wireless network. Embedded Multimedia and Telecommunication Applications: Digital Camera, Digital TV, Set-top Box, Voice and Video telephony. ; The concept of embedded systems design. Embedded microcontroller cores, embedded memories. Examples of embedded systems. ; Technological aspects of embedded systems: interfacing between analog and digital blocks, signal conditioning, digital signal processing. Sub-system interfacing, interfacing with external systems, user interfacing. Design trade offs due to process compatibility, thermal considerations, etc.; Software aspects of embedded systems: real time programming languages and operating systems for embedded systems. Essential Reading: 1. J.W. Valvano, Embedded Microcomputer System: Real Time Interfacing, Brooks/Cole, 2000. 2. D. Simon, An Embedded Software Primer, Addison Wesley, 2000. Supplementary Reading: 1. M.Mazid, J.G.Mazidi, and R.D.McKinlay, The 8051 Microcontroller and Embedded System, Pearson, 2007. 2. Ledin, Embedded Control Systems in C/C++: An Introduction for Software Developers Using MATLAB, Elsevier, 2004 3. R. Kamal, Embedded System, TMH, 2002 EE 668 INSTRUMENTATION AND SENSORS 4 Credits [3-1-0]

Measurement error and uncertainty. Accuracy, confidence limits, confidence level. Measuring methods. Characteristics of measuring instruments. Voltage and current measurement. Frequency measurement. Signals and noise. Signal conditioning: instrumentation amplifiers, sample and hold circuits, filters, current to voltage conversion analog multiplexers, isolation amplifiers. A/D and/a conversion: parallel, successive approximation and dual slope A/D converters. Data acquisition systems. Virtual instrumentation. Sensors and transducers: temperature, geometric displacement, force, torque, vibration. Microprocessor and PC based Instrumentation system Design. Introduction to computer control of processes. Essential Reading: 1. D.V. Murty, Transducers and Instrumentation, PHI, 2008. 2. C. S. Rangan, G. R. Sarma, V. S. V. Mani, Instrumentation: Devices and Systems, TMH, 2008. Supplementary Reading: 1. A.S. Morris, Principles of Measurement and Instrumentation, Prentice Hall, 2007.

2. J. Bouwens, Digital Instrumentation, TMH, 2002.