Cleveland State University

Department of Electrical Engineering and Computer Science


EEC 644/744, Optimal Control Systems

Spring 2018, 4 credit hours


Catalog Description: Optimal Control Systems (4-0-4)

Prerequisite: EEC 510 or equivalent. Introduction to the principles and methods of the optimal control approach: performance measures; dynamic programming; calculus of variations; Pontryagin's principle; optimal linear regulators; minimum-time and minimum-fuel problems; steepest descent; and quasi-linearization methods for determining optimal trajectories.


Course Content: This course will explore mathematical strategies for controlling dynamic state-space systems (both linear and nonlinear) in both noise-free and noisy environments. The methods taught in this course are applicable to many disciplines, including all areas of engineering, science, and economics. MATLAB assignments will reinforce the techniques taught in this course. Students are expected to be proficient in MATLAB before taking this course.


Required Text: D. Kirk, Optimal Control Theory, Dover, 2004



J. Speyer and D. Jacobson, Primer on Optimal Control Theory, SIAM, 2010

R. Stengel, Optimal Control and Estimation, Dover, 1994

K. Astrom, Introduction to Stochastic Control Theory, Dover, 2006

B. Anderson and J. Moore, Optimal Control, Dover, 2007

A. Bryson and Y. Ho, Applied Optimal Control, Taylor & Francis, 1975

A. Bryson, Applied Linear Optimal Control, Cambridge University Press, 2002

M. Athans and P. Falb, Optimal Control, Dover, 2006

D. Naidu, Optimal Control Systems, CRC Press, 2002

F. Lewis and V. Syrmos, Optimal Control, Wiley-Interscience, 1995

P. Dorato, C. Abdallah, and V. Cerone, Linear Quadratic Control, Krieger Publishing, 2000


Day/Time:     MW, 2:00-3:50



Dan Simon


Phone:  216-687-5407




Course Web Site:


Office: FH 343


Office Hours: MW 4:00-5:50












Term Project



Final Exam





A minus


B plus




B minus





Homework includes written exercises and MATLAB problems. Students are encouraged to work together on homework, but each student needs to do his or her own work. Students who hand in homework solutions that are essentially the same will receive a grade of zero, and an academic misconduct letter will be placed in the students' files. Late homework will not be accepted. Homework assignments should be in order, neat, and stapled once in the upper left corner. If your homework assignment or test is hard for me to grade, then it will be hard for me to give you a good grade.


Tests are open-book and open-notes. Electronic devices are not allowed during tests. Makeup tests will not be given without the prior permission of the instructor. 


Dates for tests and homework assignments will be posted at


Final Exam: Wednesday, May 9, 12:30-2:30