V. Kučera taught master’s and doctoral courses in systems and control theory at the Faculty of Electrical Engineering, Czech Technical University in Prague.
During 1993-1995 he taught the following courses:
| 35TDS: Theory of Dynamical Systems |
| Master degree program in Electrical and Computer Engineering Specialization: Control Engineering Semester: winter Size: 3+2 hours per week Summary: Definition of a dynamical system, linear systems, state-space and transfer-function descriptions, canonical realizations, reachability, observability, stability, state feedback and output injection. |
| 35MTR: Modern Control Theory |
| Master’s degree program in Electrical and Computer Engineering Specialization: Control Engineering Semester: summer Size: 3+2 hours per week Summary: Linear-quadratic methods, state regulation, state estimation, Riccati equations, linear-quadratic-gaussian control, gain and phase margins, robustness properties. |
During 1996-2008 he taught the course:
| 35AMS: Algebraic Design Methods |
| Master’s degree program in Electrical and Computer Engineering Specialization: Control Engineering Semester: winter Size: 2+2 hours per week Number of credits: 4 Purpose: To offer an alternative design method for linear control systems. The method is based on transfer functions expressed in fractional form. The main result is a parametrization of all controllers that stabilize a given plant. Additional design specifications, including reference tracking, disturbance rejection, optimality, and robustness, can be achieved by selecting a suitable parameter. The lectures are supported by laboratory experiments using Control System Toolbox and Polynomial Toolbox for Matlab. Contents: Polynomial and rational functions, Diophantine equations, solution algorithms, systems and signals, norms, feedback systems, stabilizing controllers, reference tracking, disturbance rejection, optimal systems, H2 and H-infinity norm minimization, robust stabilization and tracking, pole placement and deadbeat control, robust regional pole placement. Textbook: J. C. Doyle, B. A. Francis, and A. R. Tannenbaum: Feedback Control Theory. Macmillan, New York 1992. |
During 2006-2007 he taught the following course:
| X35SSM: Space Systems, Modeling and Identification |
| SpaceMaster, a multidisciplinary master-degree program supported by Erasmus/Mundus Semester: winter Size: 3+1 hours per week Number of credits: 6 Purpose: To provide students of different backgrounds with a solid foundation in systems and control theory, focusing on space applications. The lectures are supported by calculations and laboratory experiments using Matlab. Contents: Systems and signals, the notion of state, input-output characteristics, identification, solution of differential state equations, transfer functions, poles and zeros, realization theory, stability, reachability and observability, state transformations, state feedback, state observers, stabilizing controllers. Textbooks: H. Kwakernaak and R. Sivan: Modern Signals and Systems. Prentice Hall, Englewood Cliffs 1991. C.T. Chen: Linear System Theory and Design. Oxford University Press, New York 1999. |
During 1996-2017 he taught the course:
| X35LSD: Linear systems |
| Doctor’s degree program in Electrical and Computer Engineering Specialization: Control Engineering and Robotics Semester: winter Size: 3+1 hours per week Number of credits: 4 Purpose: To study the structure and properties of linear multi-input multi-output systems and their significance for the design of linear controls. The presentation focuses on pole placement techniques, linear state regulation and estimation, LQG design, and noninteractive control. State-space and transfer-function design techniques are compared. The lectures are supported by laboratory experiments using Control System Toolbox and Polynomial Toolbox for Matlab. Contents: State-space system description, system dynamics and stability, reachability and observability, transfer-function system description, poles and zeros, the state-space realization of transfer functions, linear equations, state feedback, and output injection, dynamics assignment, linear state regulation, linear state estimation, LQG control, feedback realization of cascade compensators, noninteractive control. Textbook: V. Kučera: Analysis and Design of Discrete Linear Control Systems. Academia, Praha/ Prentice-Hall, London 1991. |
During 2007-2009 he taught also the following course:
| X35TDS: Theory of Dynamical Systems |
| Master’s degree program in Electrical and Computer Engineering Specialization: Control Engineering Semester: winter Size: 3+1 hours per week Number of credits: 5 Purpose: To introduce mathematical tools for the description, analysis, and partly also synthesis of dynamical systems. The focus is on linear time-invariant multi-input multi-output systems and their properties such as stability, controllability, observability, and state realization. State feedback, state estimation, and the design of stabilizing controllers are explained in detail. Partially covered are also time-varying and nonlinear systems. Some of the tools introduced in this course are readily applicable to engineering problems, such as the analysis of controllability and observability in the design of flexible space structures, the design of state feedback in aircraft control, and the estimation of state variables. The main motivation, however, is to pave the way for advanced courses in Modern control design, Estimation and filtering, Nonlinear systems, and Robust control. Contents: Systems and signals. Linear and time-invariant systems. Differential and difference systems. The concept of state, state equations. Solving the state equations and modes of the system. Equivalence of systems. Continuous-time, discrete-time, and sampled-data systems. Lyapunov stability, exponential stability, internal and external stability properties of linear systems. Reachability and controllability of systems. Observability and constructibility of systems. Dual systems. Standard forms for systems, Kalman’s decomposition. Internal and external descriptions of systems, impulse response, and transfer function. Poles and zeros of systems. State realizations of external descriptions. Minimal realizations, balanced realizations. State feedback, optimal state regulation, pole assignment. Output injection, state estimation. Interconnection of systems, feedback controllers, stabilizing controllers. State representation of stabilizing controllers, separation property of state regulation, and estimation. Textbook: P.J. Antsaklis, A.N. Michel: A Linear Systems Primer. Birkhauser, New York 2007. |
During 2009-2016 he taught the innovative course:
| A3M35TDS: Theory of Dynamical Systems |
| Master’s degree program in Cybernetics and Robotics Specializations: Systems and Control, Sensors and Instrumentation, Robotics Semester: winter Size: 4+2 hours per week Number of EC credits: 8 Course webpage: Purpose: To introduce mathematical tools for the description, analysis, and partly also synthesis of dynamical systems. The focus is on linear time-invariant multi-input multi-output systems and their properties such as stability, controllability, observability, and state realization. State feedback, state estimation, and the design of stabilizing controllers are explained in detail. Partially covered are also time-varying and nonlinear systems. Some of the tools introduced in this course are readily applicable to engineering problems, such as the analysis of controllability and observability in the design of flexible space structures, the design of state feedback in aircraft control, and the estimation of state variables. The main motivation, however, is to pave the way for the advanced courses of Optimal and robust control; Estimation, filtering, and detection; Nonlinear systems, and chaos. Contents: Systems and signals. Linear and time-invariant systems. Differential and difference systems. The concept of state, state equations. Solving the state equations and modes of the system. Equivalence of systems. Continuous-time, discrete-time, and sampled-data systems. Lyapunov stability, internal and external stability properties of linear systems. Reachability and controllability of systems. Observability and constructibility of systems. Dual systems. Standard forms for systems, Kalman’s decomposition. Internal and external descriptions of systems, impulse response, and transfer function. Poles and zeros of systems. State realizations of external descriptions, minimal realizations. State feedback, state regulation, linear-quadratic regulation, pole assignment. Output injection, state estimation, Kalman filter. Interconnection of systems, feedback controllers, stabilizing controllers. State representation of stabilizing controllers, separation property of state regulation, and estimation. Textbook: P.J. Antsaklis, A.N. Michel: A Linear Systems Primer. Birkhauser, New York 2007. |