Module Code Number
Number of ECTS Credits
Hours / Week
Module Lecturer
Year / Term
Type of Course
(Compulsory / Elective)
Pre requisites / Recommended
Module Contents
Aims and Objectives of the
module
Method of assessment
Teaching Language
Textbook /
Recommended readings
ADVANCED CONTROL THEORY
EMÜ-512
6
3 hours/week
Fall and Spring
Elective (MSc and PhD)
Non/ If the major is not control system and is not graduated from ElectricalElectronics Engineering Faculty/Department the related undergraduate
lectures given by the module Lecturer are strongly recommended.
Introduction to classical and modern control systems. Introduces advanced
control strategies: LGR, LQG, Hing and µ-control. Gives the basic principles
and desgn of robust control. Intelligent control strategies. Fuzzy and neural
network. Knowledge based system and control.
Introduce the methods to design both classical and modern controllers. Gives
the theoretical background materials for analysing and design of control
systems.
One written midterm exam (50%) and one written final exam (50%)
Turkish/English
Control System Design: by G. C. Goodwin, S. F. Graebe and M. E. Salgado,
Prentice Hall
/Digital Control System Analysis and Design: by Philips, C. N. and Negle Jr,
H.T., Prentice Hall.
Computer Controlled Systems: by Astrom, K.J. and Wittenmark, B., Prentice
Hall.
Module Code Number
Number of ECTS Credits
Hours / Week
Module Lecturer
Year / Term
Type of Course
(Compulsory / Elective)
Pre requisites / Recommended
Module Contents
Aims and Objectives of the
module
Method of assessment
Teaching Language
Textbook /
Recommended readings
DIGITAL CONTROL
EMÜ-513
6
3 hours/week
Fall and Spring
Elective (MSc and PhD)
Non/ If the major is not control system and is not graduated from ElectricalElectronics Engineering Faculty/Department the related undergraduate
lectures given by the module Lecturer are strongly recommended.
Introduction to discrete-time control systems. The z Transform. Z-Plane
analysis of discrete-time control systems. Design of discrete-time control
systems by conventional methods: Mapping between the s plane and the z
plane. Stability analysis of closed loop systems in the z plane. Transient and
steady state response analysis. Controller design based on the root-locus
method. Classical controller design based on the frequency response method.
Controller design by analytical design method. State space of discrete
control systems. State feedback control for discrete systems. Modelling
nonlinear systems in Matlab/SIMULINK environments.
Gives the theoretical background materials for analysing and design of
discrete-time control systems. Introduce the methods to design both classical
and modern controllers for discrete-time systems.
One written midterm exam (50%) and one written final exam (50%)
Turkish/English
Discrete-Time Control Systems: by Ogata, K., Prentice Hall.
Control System Design: by G. C. Goodwin, S. F. Graebe and M. E. Salgado,
Prentice Hall
/Digital Control System Analysis and Design: by Philips, C. N. and Negle Jr,
H.T., Prentice Hall.
Computer Controlled Systems: by Astrom, K.J. and Wittenmark, B., Prentice
Hall.
Digital Control Systems: Paraskevopoulos, P.N. Prentice Hall
Module Code Number
Number of ECTS Credits
Hours / Week
Module Lecturer
Year / Term
Type of Course
(Compulsory / Elective)
Pre requisites / Recommended
Module Contents
Aims and Objectives of the
module
Method of assessment
Teaching Language
Textbook /
Recommended readings
NONLINEAR CONTROL SYSTEMS
EMÜ-580
6
3 hours/week
Fall and Spring
Elective (MSc and PhD)
Non/ If the major is not control system and is not graduated from ElectricalElectronics Engineering Faculty/Department the related undergraduate
lectures given by the module Lecturer are strongly recommended.
Analysis noınlinear control systems, Lyapunov’s first and second stability
theorems. Advanced stability theories. Absolute stability. Self sustained
oscillation in nonlinear system and their stability. Towards modern nonlinear
control. Linearization by the sate feedback. Inverse system and zero
dynamics. State feedback for uncertain systems. Nonlinear observer. Output
feedback for uncertain systems. Controller design based on Lyapunov
method. Fundamentals of variable structure system and sliding mode control.
Robust properties of nonlinear system. Adaptive control systems.
Gives a concise coverage of nonlinear systems. Introduce methods
developed for nonlinear control systems analyse and design. To introduce
and design the robust control methods.
One written midterm exam (50%) and one written final exam (50%)
Turkish/English
Nonlinear Control Design: Geometric, Adaptive and Robust, by R. Marino
and P. Tomei, Prentice-Hall, Inc, New York,1995.
Applied Nonlinear Control: Slotine: by J-J E. ve Li, W., Prentice-Hall, Inc,
New York,1991.
SİMULİNK Dynamical System Simulation Software; for windows, The
MathWorks Inc.
Nonlinear Dynamical Control Systems: by Nijmejer, H. and Van der Schaft,
A. J., Springer Verlag.
Module Code Number
Number of ECTS Credits
Hours / Week
Module Lecturer
Year / Term
Type of Course
(Compulsory / Elective)
Pre requisites / Recommended
Module Contents
Aims and Objectives of the
module
Method of assessment
Teaching Language
Textbook /
Recommended readings
Module Code Number
Number of ECTS Credits
Hours / Week
Module Lecturer
Year / Term
Type of Course
(Compulsory / Elective)
Pre requisites / Recommended
Module Contents
Aims and Objectives of the
module
Method of assessment
Teaching Language
Textbook /
Recommended readings
SLIDING MODE KONTROL
EMÜ-581
6
3 hours/week
Fall and Spring
Elective (MSc and PhD)
Non/ If the major is not control system and is not graduated from ElectricalElectronics Engineering Faculty/Department the related undergraduate
lectures given by the module Lecturer are strongly recommended.
Mathematical requirements. Continuous and discontinuous systems. Flippv’s
equivalent dynamics for on-off control systems. Variable structure systems.
Design of switching surface and reachability condition. Chattering and noise
problems. Sliding mode of linear system and decomposition. Stability of
feedback control systems. Sliding mode control of nonlinear systems. The
uncertain systems and Lipschutz condition. Matching condition. Equivalent
and computed torque controls.
To introduce the properties of the variable structure control. Design sliding
mode control for both linear and nonlinear systems. Introduce the slow and
fast motions of the closed loop systems.
One written midterm exam (50%) and one written final exam (50%)
Turkish/English
Sliding Mode Control: by C. Edwards and S. K. Spurgeon, Taylor & Francis
Ltd. London. 1998.
/Control System Design: by G. C. Goodwin, S. F. Graebe and M. E. Salgado,
Prentice Hall
OPTIMAL CONTROL THEORY
EMÜ-582
6
3 hours/week
Fall and Spring
Elective (MSc and PhD)
Non/ If the major is not control system and is not graduated from ElectricalElectronics Engineering Faculty/Department the related undergraduate
lectures given by the module Lecturer are strongly recommended.
Mathematical requirements. Introduction of optimisation. Dynamic
programming. Pontryagin’s minimum and maximum principles. Parameters
optimisation by use of Lyapunov second method. Pole placement. Lyaponov
control and Linear Quadratic Control of linear systems. Optimal output
feedback control. Time optimal control systems.
To introduce the properties of optimal systems. Introduce the methods to
develop optimal control systems.
One written midterm exam (50%) and one written final exam (50%)
Turkish/English
Linear systems: by T. Kailath, Prentice Hall. 1980.
Modern control theory: by W.L. Brogan, Prentice Hall. 1991
/Control System Design: by G. C. Goodwin, S. F. Graebe and M. E. Salgado,
Prentice Hall
Module Code Number
Number of ECTS Credits
Hours / Week
Module Lecturer
Year / Term
Type of Course
(Compulsory / Elective)
Pre requisites / Recommended
Module Contents
Aims and Objectives of the
module
Method of assessment
Teaching Language
Textbook /
Recommended readings
NONLINEAR DYNAMICAL SYSTEMS
EMÜ-583
6
3 hours/week
Fall and Spring
Elective (MSc and PhD)
Non/ If the major is not control system and is not graduated from ElectricalElectronics Engineering Faculty/Department the related undergraduate
lectures given by the module Lecturer are strongly recommended.
Initial orientation: The necessity of the nonlinearity in the system modelling,
Definition of nonlinearity, Types of behaviour found in practical and
engineering nonlinear systems, Representation of nonlinear systems by
differential equations. First and second order nonlinear systems. Vector field
aspects. Determination of the qualitative behaviour of the nonlinear second
order systems near Equilibrium points. Linearization of high order nonlinear
systems. Tsypki's method for the high-switched systems. Graphical analyse
methods developed for nonlinear systems. Phase plane portrait. Limit cycle
behaviour. The describing function method. Stability of nonlinear systems.
Lyaponov’s second method. Determine the characteristics of nonlinear
system based on experimental results. Matlab/SIMULINK modelling of
nonlinear systems.
Gives a concise coverage of nonlinear systems. Introduce methods
developed for nonlinear systems analyse and design.
One written midterm exam (50%) and one written final exam (50%)
Turkish/English
Nonlinear Control Design: Geometric, Adaptive and Robust, by R. Marino
and P. Tomei, Prentice-Hall, Inc, New York,1995.
Applied Nonlinear Control: Slotine: by J-J E. ve Li, W., Prentice-Hall, Inc,
New York,1991.
SİMULİNK Dynamical System Simulation Software; for windows, The
MathWorks Inc.
Nonlinear Dynamical Control Systems: by Nijmejer, H. and Van der Schaft,
A. J., Springer Verlag.
Module Code Number
Number of ECTS Credits
Hours / Week
Module Lecturer
Year / Term
Type of Course
(Compulsory / Elective)
Pre requisites / Recommended
Module Contents
Aims and Objectives of the
module
Method of assessment
Teaching Language
Textbook /
Recommended readings
CHAOTIC DYNAMIC
EMÜ-584
6
3 hours/week
Fall and Spring
Elective (MSc and PhD)
Non/ If the major is not control system and is not graduated from ElectricalElectronics Engineering Faculty/Department the related undergraduate
lectures given by the module Lecturer are strongly recommended.
Periodic and nonperiodic response of the dynamical systems. Sensitive of the
system dynamics to the sate initial conditions. Chaotic signal and white
noise. Understanding Chaos: logistic map, periodic doubling and periodic
windows. Lyapunov exponent. The circle map and the horseshoe map.
Devil’s star conjecture. Time series analysis of chaotic signals. Chaos in
electronics circuits. Chaos in electromechanical systems. Chaos in comical
reaction and flow mechanics. Lorenz system and use for whether predictions.
Chaos in lasers and in quantum physics.
Gives and introduction of chaotic signals and chaotic systems. Introduces
the basic properties of chaotic systems. The methods for analysing chaotic
signal and system are also given and several chaotic systems are analysed.
Chaos in different disciplines are also discussed.
One written midterm exam (50%) and one written final exam (50%)
Turkish/English
Chaos dynamics: by G. L. Beker and J. P. Gollub. Cambridge university press.
1990.
Chaos and Complexity in Nonlinear Electronic Circuits: by M.J. Ogorzalek.
Word Scientific Pub., NJ, 1997.
/ Chaotic and Fractal Dynamics: An Introduction for Applied Scientists and
Engineers: by Moon, F.C.,Wiley, New York, 1992.
Controlling Chaos: Theorical and Pratical Methods in Nonlinear Dynamics:
Kapitaniak, T. Academic Press, Londra, UK. 1996.
Chaos in Nonlinear Oscillators: Controlling and Synchronization:
Laskhmanan, M. ve Murali, K. World Scientific Publishing, USA. 1996.
Nonlinearity and Chaos in Engineering Dynamics: by Thompson, J..M.T.
Birshop S.R. (Eds.), Wiley, Chichester, UK, 1994.
Module Code Number
Number of ECTS Credits
Hours / Week
Module Lecturer
Year / Term
Type of Course
(Compulsory / Elective)
Pre requisites / Recommended
Module Contents
Aims and Objectives of the
module
Method of assessment
Teaching Language
Textbook /
Recommended readings
CONTROL OF CHAOS
EMÜ-585
6
3 hours/week
Fall and Spring
Elective (MSc and PhD)
Non/ If the major is not control system and is not graduated from ElectricalElectronics Engineering Faculty/Department the related undergraduate
lectures given by the module Lecturer are strongly recommended.
Prediction of chaotic behaviours. The characteristic of chaos in Phase Plane
diagrams. Control phase diagrams. Chaos oin feedback control systems and
its prediction. Force the system to operate out side of chaotic region. The
fundamental philosophy of chaos control. Control of chaos based on nonfeedback methods. Feedback control methods for chaos control. Linear and
nonlinear control methods for chaos control.
Gives and introduction of chaotic signals and chaotic systems. Introduces
the basic properties of chaos control. To introduce the feedback and non
feedback control methods for chaos control.
One written midterm exam (50%) and one written final exam (50%)
Turkish/English
Controlling Chaos: Theorical and Pratical Methods in Nonlinear Dynamics:
Kapitaniak, T. Academic Press, Londra, UK. 1996.
Chaos in Nonlinear Oscillators: Controlling and Synchronization:
Laskhmanan, M. ve Murali, K. World Scientific Publishing, USA. 1996.
/Chaotic and Fractal Dynamics: An Introduction for Applied Scientists and
Engineers: by Moon, F.C.,Wiley, New York, 1992.
Chaos dynamics: by G. L. Beker and J. P. Gollub. Cambridge university press.
1990.
Chaos and Complexity in Nonlinear Electronic Circuits: by M.J. Ogorzalek.
Word Scientific Pub., NJ, 1997.
Nonlinearity and Chaos in Engineering Dynamics: by Thompson, J..M.T.
Birshop S.R. (Eds.), Wiley, Chichester, UK, 1994.