KERALA

TECHNOLOGICAL
UNIVERSITY
Master of Technology
Curriculum, Syllabus and Course Plan

Cluster

01

Branch

Electrical and Electronics Engineering

Stream

Guidance and Navigation Control

Year

2015

No. of Credits

67

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course Number

01MA6021

01EE6101

Advanced Mathematics & Optimisation

Techniques
Dynamics of Linear Systems

01EE6103

Duration
(hours)

Credits

L-T-P

End Semester
Examination

Marks

Name

Internal Marks

Examination Slot

SEMESTER 1

3-0-0

40

60

3-1-0

40

60

Digital Control Systems

3-1-0

40

60

01EE6201

Principles of Aerospace Navigation

3-0-0

40

60

01EE6203

Introduction to Flight

3-0-0

40

60

01EE6999

Research Methodology

0-2-0

100

01EE6291

Seminar I

0-0-2

100

01EE6193

Design & Simulation Lab

0-0-2

100

15-4-4

500

TOTAL
TOTAL CONTACT HOURS
TOTAL CREDITS

Cluster: 1

:
:

300

22

23
22

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

2

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

SEMESTER 2
Course Number

Marks

Duration
(hours)

Credits

01EE6102

Optimal Control Theory

3-1-0

40

60

01EE6104

Nonlinear Control Systems

3-0-0

40

60

Elective-I

3-0-0

40

60

Elective-II

3-0-0

40

60

Elective-III

3-0-0

40

60

Name

L-T-P

Internal Marks

Examination Slot

End Semester
Examination

01EE6292

Mini Project

0-0-4

100

01EE6194

Advanced Control Lab

0-0-2

100

TOTAL

15-1-6

400

TOTAL CONTACT HOURS

TOTAL CREDITS

:
:

300

19

22
19
Elective I

01EE6212

Guidance and Control of Missiles

01EE6112

Process Control & Industrial Automation

01EE6114

Adaptive Control

01EE6412

New and Renewable Sources of Energy

Elective II

01EE6116

Sliding Mode Control

01EE6118

Stochastic Control

01EE6122

Industrial Data Networks

01CE6414

Sustainable Development and Green Technology

01CS6552

Design of Real Time/ Embedded Systems

01ME6316

Advanced Numerical Techniques

Elective III

01EE6124

Robotics and Control

01EE6214

Flight Dynamics and Control

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

3

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

01EE6126

Soft Computing Techniques

01EE6426

Smart Grid Technologies and Applications

01CE6424

Environment and Pollution

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

4

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Duration
(hours)

Credits

L-T-P

End Semester
Examination

Marks

Name

Internal Marks

Course Number

Examination Slot

SEMESTER 3

Elective IV

3-0-0

40

60

Elective V

3-0-0

40

60

01EE7291

Seminar II

0-0-2

100

01EE7293

Project (Phase I)

0-0-12

50

TOTAL

6-0-14

230

TOTAL CONTACT HOURS

TOTAL CREDITS

:
:

120

20
14

Elective IV
01EE7211

Helicopter Dynamics

01EE7111

Robust Control

01EE7113

Advanced Instrumentation

01EE7115

System Identification & Parameter Estimation

01CS7317

Neural Networks

01EC7511

Neuro Fuzzy Systems

01ME7117

Mechatronics System Design

Elective V
01EE7213

Guidance and Control Space Vehicles and Satellites

01EE7117

Estimation Theory

01EE7119

Multivariable Control Theory

01EE7315

Hybrid Electric Vehicles

01EC7121

Wireless Sensors and Systems

01EC7515

RF MEMS

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

5

14

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Project (Phase 2)

0-0-23

70

30

TOTAL

0-0-23

70

30

TOTAL CONTACT HOURS

TOTAL CREDITS

:
:

12
-

23
12

TOTAL NUMBER OF CREDITS: 67

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

6

Credit

Duration
(hours)

01EE7294

L-T-P

End Semester
Examination

Marks

Course Number

Name

Internal Marks

Examination Slot

SEMESTER 4

12

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course No.
01MA6021

Course Name
Advanced Mathematics &
Optimization Techniques

L-T-P

Credits

Year of Introduction

3-0-0

2015

Course Objectives
1. Develop a conceptual basis for Linear algebra.
2. Equip the Students with a thorough understanding of vector spaces and optimization
techniques.

Syllabus
Vector Spaces - linear Transformations - orthogonality - least square solutions - matrix
factorizations - Linear programming problems - Simplex Methods - Integer programming - Nonlinear programming (Unconstrained and constrained) - quadratic programming - Convex
programming - Dynamic programming

Expected Outcome
Upon successful completion of the course, students will have basic knowledge of vector spaces and
optimization theory which are essential for higher studies and research in Engineering.

References
1.
2.
3.
4.
5.
6.

David C. Lay, Linear Algebra, Pearson Education, 4/e, 2012

Handy A. Taha, Operations Research an Introduction, PHI, 9/e, 2011
R. Hariprakash and B. Durga Prasad, Operations Research, Scitech. 1/e, 2010
B. S. Goel and S. K. Mittal, Operations Research, Pragathi Prakashan, 25/e, 2009
Seymour Lipschulz, Linear Algebra, Tata McGraw Hill.
K. V. Mittal and C. Mohan, Optimization Methods in Operations Research and System
Analysis, 3/e, New Age International Publishers.
7. Singiresu S Rao, Engineering Optimization Theory and Practice, 3/e, New Age
International Publishers.

Contents

Cluster: 1

% of Marks in
End-Semester
Examination

Hours Allotted

Module

COURSE PLAN

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

7

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

II

Vector spaces and subspaces, null space, column space of a matrix; linearly
independent sets and bases; Coordinate systems; dimension of a vector
space; rank; change of basis; linear transformations properties - kernel and
range - computing kernel and range of a linear transformation - matrix
representation of a linear operator - Invertible linear operators
Inner product, length and orthogonality; orthogonal sets; orthogonal
projections; Gram Schmidt process; least square solutions; Inner product
spaces; QR factorization ; Singular value decomposition.

15

15

15

15

20

20

FIRST INTERNAL EXAM

III

IV

VI

Linear programming problems - Simplex Methods - two phase simplex

method-Dual simplex method, Integer linear programming; Graphical
representation - Gomorys Cutting plane method,
Zero One
Programming
Unconstrained non-linear programming; Steepest descent method,
Conjugate Gradient method, Powels method, Hooke-Jeeves method.
SECOND INTERNAL EXAM
Constrained non-linear programming - Complex method - Cutting plane
method - method of feasible directions - Kuhn-Tucker conditions
Convex programming problem - Exterior penalty method - Quadratic
programming - Dynamic programming - representation of multi stage
decision process sub-optimization and principle of optimality computational procedure in dynamic programming
END SEMESTER EXAM

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

8

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course No.

Course Name

L-T-P

Credits

Year of Introduction

01EE6101

Dynamics of Linear Systems

3-1-0

2015

Course Objectives
1. To provide a strong foundation on classical and modern control theory.
2. To provide an insight into the role of controllers in a system.
3. To design compensators using classical methods.
4. To design controllers in the state space domain.
5. To impart an in depth knowledge in observer design

Syllabus
Design of feedback control systems- Review of compensator design using Root locus and Bode
plots- PID controllers , State Space Analysis and Design- Solution of Linear Time Varying SystemsLinear state variable feedback for SISO systems-formulae for feedback gain-Transfer function
approach-controllable and uncontrollable modes - regulator problems,Asymptotic observers for
state measurement-implementation of the observer-full order and reduced order observerscombined observercontroller-direct transfer function design procedures-MIMO systems:
Introduction-controllability-observability- different companion forms for MIMO systems.

Expected Outcome
Upon successful completion of this course, students will be able to:
1.
2.
3.
4.

Analyze a given system and assess its performance.

Design a suitable compensator to meet the required specifications.
Design and tune PID controllers for a given system.
Realize a linear system in state space domain and to evaluate controllability and
observability.
5. Design a controller and observer for a given system and evaluate its performance.

References
1. Thomas Kailath, Linear System, Prentice Hall Inc., Eaglewood Cliffs, NJ, 1998
2. M. Gopal, Control Systems-Principles and Design, Tata McGraw-Hill.
3. Richard C. Dorf & Robert H. Bishop, Modern Control Systems Pearson Education,
Limited, 12th Ed., 2013
4. Gene K. Franklin & J. David Powell, Feedback Control of Dynamic Systems, Pearson
Education, 5th Edition, 2008
5. Friedland B., Control System Design: An Introduction to State Space Methods, Courier
Corporation, 2005

COURSE PLAN

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

9

II

III

IV

VI

Contents

Design of feedback control systems- Approaches to system designcompensatorsperformance measures- cascade compensation networksphase lead and lag compensator design using both Root locus and Bode
plots
PID controllers-effect of proportional, integral and derivative gains on
system performance-PID tuning-integral windup and solutions
FIRST INTERNAL EXAM
State Space Analysis and Design- Analysis of stabilization by pole
cancellation- reachability and constructability - stabilizability controllability - observability-grammians-Analysis of stabilization by
output feedback-Transfer function approach - state feedback and zeros
of the transfer function.Solution of Linear Time Varying Systems
Linear state variable feedback for SISO systems, -modal controllabilityformulae for feedback gain -significance of controllable Canonic formAckermann's formula feedback gains in terms of Eigen values - MayneMurdoch formula - non controllable realizations and stabilizability controllable and uncontrollable modes - regulator problems .
SECOND INTERNAL EXAM
Observers: Asymptotic observers for state measurement-open loop
observer-closed loop observer-formulae for observer gain -implementation
of the observer - full order and reduced order observers - separation
principle - combined observer -controller optimality criterion for
choosing observer poles
Direct transfer function design procedures Design using polynomial
equations - Direct analysis of the Diophantine equation. MIMO systems:
Introduction, controllability, observability, different companion forms for
MIMO systems
END SEMESTER EXAM

Cluster: 1

10

12

10

10

% of Marks in
End-Semester
Examination

Hours Allotted

Module

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

15

15

15

15

20

20

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

10

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course No.

Course Name

L-T-P

Credits

Year of Introduction

01EE6103

Digital Control Systems

3-1-0

2015

Course Objectives
1. Introduce the concepts of digital control of dynamic systems, design using transform
techniques and state space methods
2. To design compensators using classical methods and analyse the closed-loop stability
3. To impart in-depth knowledge in state space design of digital controllers and observers
4. To analyse the system performance and stability aspects with controller and observer in
closed-loop

Syllabus
Review of Z Transforms-Analysis in Z-domain-Discrete Systems- Pulse Transfer FunctionSignificance of Sampling- mapping between s-plane and z-plane-Stability analysis of closed-loop
systems in the z-plane- Discrete equivalents-Digital Controller Design for SISO systems-design by
Emulation- direct design- using root locus-frequency response methods and State-Space
approach- method of Ragazzini- discretization of continuous time state-space equationsControllability- Observability-Control Law Design- Pole Placement- State Feedback-Digital PIDdesign of PID controller based on frequency response method- Design of lag, lead and lag-lead
compensators-Estimator/Observer Design- Full order observers- reduced order observersRegulator Design-Separation Principle-Introduction to MIMO systems-Design Concept - Case
Study

Expected Outcome
Upon successful completion of this course, students will be able to:
1. Analyse a discrete-time system and evaluate its performance
2. Design suitable digital controller for the system to meet the performance specifications
3. Design a digital controller and observer for the system and evaluate its performance

References
1. Gene F. Franklin, J. David Powell, Michael Workman, Digital Control of Dynamic
Systems, Pearson, Asia.
2. J. R. Liegh, Applied Digital Control, Rinchart & Winston Inc., New Delhi.
3. Benjamin C. Kuo, Digital Control Systems, 2/e, Saunders College Publishing,
Philadelphia, 1992.
4. K. Ogata, Discrete-Time Control Systems, Pearson Education, Asia.
5. C. L. Philips, H. T. Nagle, Digital Control Systems, Prentice-Hall, Englewood Cliffs,
New Jersey, 1995.
6. R. G. Jacquot, Modern Digital Control Systems, Marcel Decker, New York, 1995.
7. M. Gopal, Digital Control and State Variable Methods, Tata McGraw-Hill, 1997.
8. Frank L. Lewis, Applied Optimal Control & Estimation, Prentice-Hall, Englewood
Cliffs NJ, 1992.

COURSE PLAN

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

11

II

Contents

Review of Z Transforms, Analysis in Z-domain, Discrete Systems,

Sampling Theorem, Sample and Hold, Sampling Rate Selection, Pulse
Transfer Function, Mapping between the s-plane and the z-plane
Stability analysis of closed-loop system in the z-plane, Jurys test, SchurCohn test, Bilinear Transformation, Routh-Hurwitz method in w-plane.
Discrete equivalents; via numerical integration, pole-zero matching,
hold equivalents

% of Marks in
End-Semester
Examination

Hours Allotted

Module

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

15

15

FIRST INTERNAL EXAM

III

IV

VI

Digital Controller Design for SISO systems: design by Emulation,

direct design based on root locus in the z-plane, direct design based
on frequency response methods, direct design-method of Ragazzini
- Case Study
Design using State-Space approach, discretization of continuous time
state-space equations, Controllability, Observability, Control Law
Design; Pole Placement, State Feedback - Case Study.
SECOND INTERNAL EXAM
Digital PID; design of PID controller based on frequency response
method, Design of lag, lead and lag-lead compensators - Case Study
Estimator/Observer Design: Full order observers - reduced order
observers, Regulator Design, Separation Principle - case with reference
input, MIMO systems; Introduction to MIMO systems, Design Concept Case Study
END SEMESTER EXAM

Cluster: 1

10

12

10

10

15

15

20

20

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

12

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course
No.
01EE6201

Course Name
Principles of Aerospace
Navigation

L-T-P

Credits

Year of Introduction

3-0-0

2015

Course Objectives
To understand the concepts of navigation of aerospace vehicles

Syllabus
Fundamentals of navigation, guidance and control, Geometric concepts of navigation, Reference
frames, coordinate transformation, comparison of transformation methods. Inertial navigation
systems-mechanization, Inertial sensors, Externally aided navigation, Integrated navigation,
Fundamentals of radar, satellite navigation system, Application of radar and GPS in aerospace
navigation.

Expected Outcome
Upon successful completion of this course, students will have an understanding of
the concept of navigation, various navigation schemes and inertial sensors.
References
1. Anthony Lawrence, 'Modern Inertial Technology, Second Edition. SpringerVerlag, New York, Inc., 2001.
2. David Titteron and John Weston, Strapdown Inertial Navigation Technology
Second Edition IEE Radar, Sonar, Navigation and Avionics Series, 2005.
3. Ching-Fang Lin, Modern Navigation, Guidance and Control Processing,
Prentice-Hall Inc., Engle Wood Cliffs, New Jersey, 1991
4. Myron Kayton and Walter R Fried, Avionics Navigation Systems, John Wiley
& Sons Inc., Second Edition, 1997.
5. Manuel Fernadez and George R. Macomber, Inertial Guidance Engineering,
Prentice-Hall, Inc., Engle Wood Cliffs, New Jersey, 1962
6. M .I. Skolnik: Introduction to Radar Systems, Tata McGraw-Hill, 2007.

Definition-navigation-guidance-control-General principles of early

conventional navigation systems
Geometric Concepts of navigation-WGS-Reference frames-Direction
cosine matrix-Euler angles
Transformation of angular velocities-Quaternion representation,
Coordinate transformations. Comparison of transformation methods.

Cluster: 1

% of Marks in
End-Semester
Examination

Contents

Hours Allotted

Module

COURSE PLAN

15

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

13

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

II

III

IV

VI

Inertial navigation-block diagram representation- Inertial platformsStabilized platforms-Gimbelled and Strap down INS and their
mechanization-IMU
Navigation equations-Schuler principle and mechanization
Gyro compassing for initial alignment.
FIRST INTERNAL EXAM
Inertial sensors, Gyros: Principle of operation-TDF and SDF gyrosprecession-Nutation- gimbal lock-gimbal flip-gyro transfer function-rate
gyro-integrating gyro. Constructional details and operation of floated
rate integrating gyro-Dynamically tuned gyro-Ring laser gyro-Fiber
optic gyro-gyro performance parameters.
Accelerometers-transfer
function-Pendulous
gyro
integrating
accelerometer-Vibrating
StringaccelerometerAccelerometerperformance parameters. MEMS devices for aerospace
navigation.
SECOND INTERNAL EXAM
Inertial Navigation Systems- Integrated navigation systems, Externally
aided navigation systems-Basics of TACAN, TERCOM, LORAN,
OMEGA, DECCA, VOR, DME, JTIDS, FLIR- ILS. Introduction to
radars: Radar equation, Block diagram and operation, radar frequencies,
types of radar-SAR, MMWR, IR, Laser Radar, application of radars,
range performance of radars, tracking radar.
Basics of satellite navigation systems, Global Positioning Systems (GPS)
and Global Navigation of Satellite Systems (GNSS), Principles of
advanced navigation systems - GPS aided navigation-GAGAN.

6
15

15

15

10

20

20

END SEMESTER EXAM

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

14

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course
No.

Course Name

L-T-P

Credits

Year of Introduction

01EE6203

Introduction to Flight

3-0-0

2015

Course Objectives
To give basic concepts of aerodynamics, principles and performance of aircrafts.

Syllabus
Fundamentals of aerodynamics-standard atmosphere-aerodynamic flows-airfoils -aerodynamic
forces moments and coefficients-wind tunnels- control surfaces-anatomy of aerospace vehicles.

Expected Outcome
Upon successful completion of this course, students will have an understanding of the standard
atmosphere, performance of flight.

References
1. 1. John D Anderson Jr, 'Introduction to Flight McGraw Hill International, 5/e,2005
2. John D Anderson Jr, 'Fundamentals of Aerodynamics', Me Graw Hill International, 4/e,
2007.
3. A.C.Kermode, ''Mechanics of Flight', Pearson Education, 10/e, 2005.
4. Bernard Etkin, 'Dynamics of flight Stability and Control', John Wiley and Sons Inc. 3/e,
1996.
5. E.L.Houghton and N.B. Carruthers 'Aerodynamics for Engineering Students', Arnold
Publishers, 3/e, 1986.
6. Thomas R.Yechout, 'Introduction to Aircraft Flight Mechanics', A1AA Education Series,
2003
7. Richard S. Shevell, 'Fundamentals of Flight Pearson Education Inc., 2/e , 2004.
8. Louis V. Schmidt 'Introduction to Aircraft Flight Dynamics', AIAA Education Series, 1997

Contents

Hours Allotted

Aerodynamics-standard atmosphere-definition of altitudes- density,

pressure and temperature altitudes-layers of atmosphere- isothermal
and gradient layers-calculation of pressure, temperature and density in

Cluster: 1

% of Marks in
End-Semester
Examination

Module

COURSE PLAN

15

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

15

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

stratosphere and troposphere-lapse rate stability of atmosphere.

II

Aerodynamic flows-inviscid and viscous flows-incompressible and

compressible flows-Mach number-subsonic, transonic, supersonic and
hypersonic flow regimes-boundary layer-laminar and turbulent flowsReynolds number.

15

FIRST INTERNAL EXAM

III

IV

VI

Pressure and shear stress distribution-vorticity and circulationdownwash and induced drag- wash-in and wash-out- dimensional
analysis-Buckingham Pi theorem-aerodynamic forces and momentsaerodynamic heating-dynamic pressure-pressure coefficientcompressibility-isentropic flow-speed of sound.
Airfoils-airfoil nomenclature-symmetric and cambered airfoils-pressure
distribution over airfoil-generation of lift-lifting surfaces-wings-wing
geometry-aspect ratio-chord line angle of attack-characteristics of ideal
airfoil-stalling of airfoil-lift curve, drag curve and lift/drag ratio curveNACA airfoils-modern low speed airfoils-super critical airfoils-swept
wings.
SECOND INTERNAL EXAM
Aerodynamic coefficients-lift, drag and moment coefficients-variation
with angle of attack-aerodynamic centre andcentre of pressure-critical
Mach number-drag divergence Mach number-Mach angle-Mach
number independence-flow similarity-drag polar.
Wind tunnels-open, close and variable density wind tunnels-control
surfaces-elevator-aileron-rudder-canard-tail plane-loads on tail planedihedral angle-dihedral effect-flaps and slots-spoilers-Classification of
aerospace vehicles-aircrafts helicopters-launch vehicles-missilesunmanned aerial vehicles and spacecraft. Basic concepts of high speed
aerodynamics and aero elasticity.
END SEMESTER EXAM

Cluster: 1

15

15

20

20

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

16

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course No.
01EE6999

1.
2.
3.
4.
5.

Course Name
Research Methodology

L-T-P
0-2-0

Credits
2

Year of Introduction
2015

Course Objectives
To prepare the student to do the M. Tech project work with a research bias.
To formulate a viable research question.

To develop skill in the critical analysis of research articles and reports.

To analyze the benefits and drawbacks of different methodologies.
To understand how to write a technical paper based on research findings.

Syllabus
Introduction to Research Methodology-Types of research- Ethical issues- Copy right-royaltyIntellectual property rights and patent law-Copyleft- OpenacessAnalysis of sample research papers to understand various aspects of research methodology:
Defining and formulating the research problem-Literature review-Development of working
hypothesis-Research design and methods- Data Collection and analysis- Technical writing- Project
work on a simple research problem

Approach
Course focuses on students' application of the course content to their unique research interests. The
various topics will be addressed through hands on sessions.

Expected Outcome
Upon successful completion of this course, students will be able to
1. Understand research concepts in terms of identifying the research problem

2. Propose possible solutions based on research

3. Write a technical paper based on the findings.

4. Get a good exposure to a domain of interest.

5. Get a good domain and experience to pursue future research activities.

References
1.
2.
3.
4.
5.
6.
7.

C. R. Kothari, Research Methodology, New Age International, 2004

Panneerselvam, Research Methodology, Prentice Hall of India, New Delhi, 2012.
J. W. Bames, Statistical Analysis for Engineers and Scientists, Tata McGraw-Hill, New York.
Donald Cooper, Business Research Methods, Tata McGraw-Hill, New Delhi.
Leedy P. D., Practical Research: Planning and Design, McMillan Publishing Co.
Day R. A., How to Write and Publish a Scientific Paper, Cambridge University Press, 1989.
Manna, Chakraborti, Values and Ethics in Business Profession, Prentice Hall of India, New
Delhi, 2012.
8. Sople, Managing Intellectual Property: The Strategic Imperative, Prentice Hall ofIndia, New
Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

17

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Delhi, 2012.

Contents

% of Marks in
End-Semester
Examination

Hours Allotted

Module

COURSE PLAN

Introduction to Research Methodology: Motivation towards research Types of research: Find examples from literature.

Professional ethics in research - Ethical issues-ethical committees. Copy

right - royalty - Intellectual property rights and patent law - CopyleftOpenacess-Reproduction of published material - Plagiarism - Citation
and acknowledgement.

Impact factor.
Identifying major conferences and important
journals in the concerned area. Collection of at least 4 papers in the
area.

II

Defining and formulating the research problem -Literature SurveyAnalyze the chosen papers and understand how the authors have
undertaken literature review, identified the research gaps, arrived at
their objectives, formulated their problem and developed a hypothesis.

FIRST ASSESSMENT

III

IV

Research design and methods: Analyze the chosen papers to

understand formulation of research methods and analytical and
experimental methods used. Study of how different it is from
previous works.

Data Collection and analysis.Analyze the chosen papers and study the
methods of data collection used. - Data Processing and Analysis
strategies used Study the tools used for analyzing the data.
SECOND ASSESSMENT
Technical writing - Structure and components, contents of a typical
Cluster: 1

No end
semester
written
examinatio
n

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

18

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

technical paper, difference between abstract and conclusion,layout,

illustrations and tables, bibliography, referencing and footnotes-use of
tools like Latex.

VI

Identification of a simple research problem Literature surveyResearch design- Methodology paper writing based on a hypothetical
result.
END SEMESTER ASSESSMENT

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

19

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course No.
01EE6291

Course Name

L-T-P

Credits

Year of Introduction

Seminar I

0-0-2

2015

Course Objectives
To make students
1. Identify the current topics in the specific stream.
2. Collect the recent publications related to the identified topics.
3. Do a detailed study of a selected topic based on current journals, published papers
and books.
4. Present a seminar on the selected topic on which a detailed study has been done.
5. Improve the writing and presentation skills.
Approach
Students shall make a presentation for 20-25 minutes based on the detailed study of
the topic and submit a report based on the study.
Expected Outcome

Upon successful completion of the seminar, the student should be able to

1. Get good exposure in the current topics in the specific stream.
2. Improve the writing and presentation skills.
3. Explore domains of interest so as to pursue the course project.

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

20

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course
No.
01EE619
3

Course Name

L-T-P

Credits

Year of Introduction

Design and Simulation Lab

0-0-2

2015

Course Objectives
1. Analyse systems using classical and modern control theory using
MATLAB/SIMULINK
2. Design, simulate and evaluate control systems.
3. Design & fine tuning of PID controller and familiarize the roles of P, I and D in
feedback control

Syllabus
Familiarization of Control System Toolbox of MATLAB; Analysis of systems using classical and
modern control theory using MATLAB and SIMULINK; Compensator design based on time
domain and frequency domain approaches for a given system, state feedback control; full order
observer; reduced order observer to implement a state feedback controller, numerical methods
using MATLAB

Expected Outcome
Upon successful completion of this course, students will be able to:
1. Acquire ability to critically analyze different dynamic systems and choose a suitable
controller.
2. Get exposure to aspects of control systems design.
3. Get exposure to simulation tools using MATLAB/SIMULINK

Experiment
No:

Title

Hours
Allotted

COURSE PLAN

Familiarization of Control System Tool Box, Analysis of simple linear

system models in MATLAB

II

Analysis of typical systems like DC Motor Control, Satellite control system,

Torsional mechanical system etc. using MATLAB and SIMULINK.

III

Lag Compensator design based on time domain approach.

IV

Lead compensator design based on time domain approach

Lag lead compensator design based on time domain approach

VI

Lag compensator design based on frequency domain approach

Cluster: 1

2
2
2
2

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

21

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

VII

Lead compensator design based on frequency domain approach

VIII

Lag lead compensator design based on frequency domain approach

IX

Design and realization of state feedback control for a given system.

Design and realization of full order observer for a given system.

XI

Design and realization of a closed loop reduced observer for a given

system to Implement a state feedback controller.
Assignment: To analyze a given practical system model and design and
realize a suitable controller for the system.
Illustration Numerical methods like Runga-Kutta, Euler method and
Newton - Raphson method in MATLAB

XII
XIII

2
2
2
2
2
2
2

INTERNAL EXAMINATION

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

22

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course
No.
01EE610
2

Course Name

L-T-P

Credits

Year of Introduction

Optimal Control Theory

3-1-0

2015

Course Objectives
1. To choose a suitable performance measure to meet the specific requirements for a
typical optimal control problem.
2. To equip the students to formulate optimal control problems.
3. Familiarize the concepts of calculus of variations.
4. To analyse the physical system and to design the controller by optimizing the

suitable performance criteria by satisfying the constraints over the state and
inputs.
Syllabus
Optimal control problems; Mathematical models; Selection of performance measures;
Constraints; Calculus of Variations; Basic concepts; Variation of a functional, extremals;
Fundamental theorem in calculus of variation; Euler equation; Piecewise smooth extremals;
Pontryagins Minimum Principle; Minimum time, Minimum control effort, Minimum fuel,
Minimum energy problems, Singular Intervals. Dynamic Programming; Optimal control law;
Principle of optimality; Linear Regulator Problems; Stability

Expected Outcome
Upon successful completion of this course, students will be able to:
1. Formulate the optimal controller design problem.
2. Apply constrained optimization to various physical systems.
3. Implement optimal control algorithms to track the response of the system through a
predefined trajectory

References
1. Donald E. Kirk, Optimal Control Theory - An Introduction, Prentice-Hall Inc.
Englewood Cliffs, New Jersey, 1970.
2. Brian D. O. Anderson, John B. Moore, Optimal Control-Linear Quadratic
Methods, Prentice-Hall Inc., New Delhi, 1991.
3. Athans M. and P. L. Falb, Optimal control- An Introduction to the Theory and
its Applications, McGraw Hill Inc., New York, 1966.
4. Sage A. P., Optimum Systems Control, Prentice-Hall Inc., Englewood Cliffs,
New Jersey, 1968.
5. D. S. Naidu, Optimal Control Systems, CRC Press, New York Washington D. C.,
2003.

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

23

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

II

Optimal control problems - mathematical models-selection of

performance measures, constraints- classification of problem
constraints - problem formulation examples, comparison with
static optimization.
Calculus of Variations: basic concepts - variation of a functional extremals fundamental theorem in calculus of variation - Euler
equation
Piecewise smooth extremals, constrained minimization of functionals
Point constraints, differential equation constraints, isoperimetric
constraints, Hamiltonian -necessary conditions for optimal control,
problems with different boundary conditions

% of Marks in
End-Semester
Examination

Contents

Hours Allotted

Module

COURSE PLAN

15

15

10

15

12

15

10

20

10

20

FIRST INTERNAL EXAM

III

IV

VI

Pontryagins Minimum Principle, State variable inequality

constraints, the set of reachable states, Minimum time problemsbang bang control, Minimum Control Effort problem.
Minimum Fuel problems-bang off bang control, Minimum Energy
problems, Singular intervals in optimal control problems, Effects of
Singular Intervals, Numerical Examples.
SECOND INTERNAL EXAM
Dynamic Programming - Optimal control law-principle of
optimality - Application to decision making problems-routing
problem-application to typical optimal control problem,
Interpolation, recurrence relation in dynamic programming
Hamilton Jacobi Bellman equation- Standard Regulator Problem:
Continuous linear regulator Problems Discrete Linear Regulator
Problems Finite time Vs Infinite time regulator Problems Stability
END SEMESTER EXAM

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

24

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course No.

Course Name

L-T-P

Credits

Year of Introduction

01EE6104

Nonlinear Control Systems

3-0-0

2015

Course Objectives
1.
2.
3.
4.

To study the essentials of nonlinear control.

To extend the analysis techniques for classical control theory to nonlinear system.
To analyse the physical system with inherent non-linearity for stability and performance.
To provide the necessary methods for designing controllers for Non-linear systems

Syllabus
Introduction to nonlinear dynamical systems features, , Existence of Limit Cycles; Numerical
construction of Phase Portraits; Classification of Equilibrium Points; Existence and uniqueness of
solutions, Lipschitz condition,Lyapunov Theory; Invariance Principle; L Stability, Absolute
Stability, Azermanns and Kalmans Conjecture; Lures Problem; Kalman-Yakubovich-Popov
Lemma; Circle Criterion; Popovs Stability Criterion; Design via Linearization; Gain Scheduling
Feedback Linearization; Back Stepping.

Expected Outcome
Upon successful completion of this course, students will be able to:
1. Gain insight into the complexity of nonlinear systems.
2. Apply methods of characterizing and understanding the behaviour of systems that can be
described by nonlinear ordinary differential equations.
3. Use tools including graphical and analytical for analysis of nonlinear control systems.
4. Use a complete treatment of design concepts for linearization via feedback.

5. Demonstrate an ability to interact and communicate effectively with peers.

REFERNCES
1.Hassan K. Khalil, Nonlinear Systems, McMillan Publishing Company, NJ, 2004.
2. John E. Gibson, Nonlinear Automatic Control, McGraw-Hill, New York.
3. Jean-Jacques E. Slotine and Weiping Li, Applied Nonlinear Control, Prentice-Hall,
NJ, 1991.
4.M. Vidyasagar, Nonlinear Systems Analysis, Prentice-Hall, India, 1991,
5.Shankar Sastry, Nonlinear System Analysis, Stability and Control, Springer, 1999.
6.Alberto Isidori, Nonlinear Control Systems: An Introduction, Springer-Verlag, 1985.

Contents

Cluster: 1

% of Marks in
End-Semester
Examination

Hours Allotted

Module

COURSE PLAN

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

25

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

II

Introduction to nonlinear dynamical systems features, Nonlinear models

and nonlinear phenomena, Examples, Multiple equilibria, Qualitative
behaviour near equilibrium points, Existence of Limit Cycles; Numerical
construction of Phase Portraits; Classification of Equilibrium Points.
Existence and uniqueness of solutions, Lipschitz condition, Continuous
dependence on Initial conditions and parameters, Theorems on continuity
of solutions and proof.

15

15

15

15

20

20

FIRST INTERNAL EXAM

III

IV

V
VI

Lyapunov stability: Stability in the Sense of Lyapunov, Lyapunov Stability

Theorem and proof, Invariance Principle, Analysis of Instability, Linear
systems and linearization, Construction of Lyapunov function for non
linear systems: Variable Gradient Method
L stability, Small-Gain Theorem, Aizermanns and Kalman's conjecture,
Lures Problem, Absolute Stability- Kalman- Yakubovich-Popov Lemma.
Circle Criterion Popov's stability Criterion.
SECOND INTERNAL EXAM
Non-linear control system design: Stabilization via Linearization, Integral
Control via Linearization, Gain Scheduling.
Feedback Linearization, Motivation, Input-Output Linearization, State
Feedback Control, Back Stepping.
END SEMESTER EXAM

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

26

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course No.
01EE6212

Course Name
Guidance and Control of Missiles

L-T-P

Credits

Year of Introduction

3-0-0

2015

Course Objectives
1. This course covers the basics of missiles, guidance laws for missiles and its applications
to tactical missiles.
2. The classical to modern developments in missile guidance is also covered.

Syllabus
Classification of Missiles, Guided Missile, Fundamentals of Guidance, Interception and
Avoidance,Guidance Laws, Command and Homing Guidance, Classical Guidance Laws,Modern
Guidance Laws-Guidance Laws Derived from Optimal Control Theory - PPN with NonManoeuvring and Manoeuvring Targets. Missile Autopilots, Adaptive Control Guidance.
Functional Block Diagram, Missile Control Methods.

Expected Outcome
Upon successful completion of this course, students will be able to simulate a missile
guidancescheme.
References
1. George M. Siouris, Missile Guidance and Control Systems, Springer Verlag ,
New York Inc., 2004.
2. Paul Zarchan , Tactical and Strategic Missile Guidance, AIAA, Inc., Sixth
Edition, 2012.
3. N.A. Shneydor, Missile Guidance and Pursuit: Kinematics, Dynamics and
Control, Ellis Horwood Publishers, 1998.
4. Eichblatt E. J. , Test and Evaluation of the Tactical Missiles, AIAA Inc, 1989
5. Ching-Fang-Lin, Modern Navigation, Guidance and Control Processing,
Prentice- Hall, Inc., Englewood Cliffs, New Jersey, 1991
6. R. Yanushevsky, Modern Missile Guidance, CRC Press, 2008.
7. P. Garnell, Guided Weapon Control Systems, Second Edition, Brassey'sDefence
Publishers, London, l987.

History of Guided Missile for Air Defence Applications - Classification of

Missiles-Tactical Missile
Description-Fundamentals of Guidance - Basic Results in Interception
and Avoidance

Cluster: 1

% of Marks in
End-Semester
Examination

Contents

Hours Allotted

Module

COURSE PLAN

15

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

27

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

II

III

IV

VI

Taxonomyof Guidance Laws, Command and Homing Guidance

Classical Guidance Laws - Pursuit, LOS,CLOS, BR, Proportional
Navigation and Its Variants Like PPN, BPN, APN, TPN, GPN and IPN.
FIRST INTERNAL EXAM
Modern guidance Laws-Guidance Laws Derived from Optimal Control
Theory and Lyapunov method - PPN with Non-Manoeuvring and
Manoeuvring TargetsQualitative analysis
Comparative Study of Guidance Laws from the Point ofView of Time,
Miss-Distance, Launch Boundaries, Control Effort and Implementation
Difficulties.
SECOND INTERNAL EXAM
Missile Autopilots - Flight Control System-Pitch, Yaw and Roll Autopilot
- Control Surfaces
Autopilot Commands - Dither Adaptive Control-lnertial Reference
Adaptive Control
Functional Block Diagram-Angle Tracking and Seeker Head
Stabilization-RadomRefraction
Aerodynamics for Autopilot Design-Missile Control Methods. -Optimal
Filtering- Simulations. Formulation of optimal control for performance of
aerospace systems-Riccatti equations-Performance measure-Optimal
mid-course guidance
END SEMESTER EXAM

Cluster: 1

8
15

15

15

20

20

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

28

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course No.
01EE6112

Course Name
Process Control & Industrial
Automation

L-T-P

Credits

3-0-0

Year of Introduction
2015

Course Objectives
1.
2.
3.
4.

To understand physical process control problems

To provide knowledge on the industrial application of PID controllers
To analyse different control structures used in process control
To understand the field of industrial automation
Syllabus

Introduction to process dynamics; process control dynamics; different control modes and tuning;
Advanced process control techniques for both linear and nonlinear systems; Control using
hierarchical; MPC and Internal mode architectures; Statistical process control; Digital controllers;
Implementation of PID. Introduction to SCADA; PLC; Interfacing of PLC; Industrial application of
PLC; Distributed control systems; Digital gate logic; PLC Ladder logic; Introduction to IEC
61511/61508

1.
2.
3.
4.

Expected Outcome
Upon successful completion of this course, students will be able to:
Model a process control system and understand its dynamics
Able to recommend different control architectures needed in the industry
Design and tune PID controllers for a given system.
Hands on training on latest industrial automation tools such as SCADA, PLC..

References
1. Luyben W., Process Modelling, Simulation and Control for Chemical Engineers, Mc-Graw
Hill, 2/e.
2. Donald R. Coughanowr , Process Systems Analysis And Control, Mc-Graw hill, 3/e.
3. G. Liptak, Handbook of Process Control, 1996
4. George Stephanopoulos, Chemical Process Control, Prentice Hall of India.
5. Enrique Mandado, Jorge Marcos, Serrafin A Perrez, Programmable Logic Devices and
Logic Controllers, Prentice Hall, 1996.

Cluster: 1

Contents

% of Marks in
End-Semester
Examination

Hours Allotted

Module

COURSE PLAN

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

29

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

II

Introduction to process dynamics- Physical examples of first order

process, first order systems in series, dynamic behavior of first and
second order systems, Control valves and transmission lines, dynamics
and control of heat exchangers.
Process control dynamics- level control, flow control, stability and
control of chemical reactors, different control modes and tuningON/OFF, P, PI, PD, PID. Ziegler Nichols self tuning methods.

15%

15%

15%

15%

20%

20%

FIRST INTERNAL EXAM

III

IV

VI

Advanced process control techniques for both linear and nonlinear

systems- Feed forward control, cascade control, ratio control, adaptive
control, override control, control of nonlinear process with delay,
Hierarchical control, internal mode control.
MPC, Statistical process control. Digital controllers, effect of sampling,
Implementation of PID-stability and tuning, digital feed forward control
SECOND INTERNAL EXAM
Introduction to SCADA- SCADA Systems, SCADA Architecture;
monolithic, distributed and network, PLC-combinational and
sequential logic controllers, system integration with PLCs and
computers, application in industry. Distributed control systems-PC
based control
Programming ON/OFF inputs to produce ON/OFF outputs, Relation
of digital gate logic to contact/coil logic, Digital gate logic, PLC Ladder
logic, Introduction to IEC 61511/61508 and the safety cycle.
END SEMESTER EXAM

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

30

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course No.
01EE6114

Course Name
Adaptive Control

L-T-P

Credits

3-0-0

Year of Introduction
2015

Course Objectives
1. Inculcate conceptual understanding of adaptive control
2. Provide knowledge on various adaptive schemes, with a basic understanding on closed loop
system stability and implementation issues
3. Develop ability to design suitable stable adaptive scheme to meet the performance objectives
even in the presence of disturbances and changing operating conditions
4. Design model reference adaptive control system considering matched structured
uncertainties
5. Identify the need and apply appropriate adaptive control design technique to real-time
systems

Syllabus
Adaptive Control, Adaptive Schemes, Adaptive Control Problem; Applications, Regression Models,
Recursive Least Squares, Real-Time Parameter Estimation, Direct and Indirect Self-Tuning
Regulators Pole Placement Design, MDPP, Model Reference Adaptive Systems, MIT Rule, Design of
MRAS Using Lyapunov Theory, Relations between MRAS and STR, Adaptive Feedback
Linearization, Adaptive Back Stepping, Gain Scheduling, Design of Gain-Scheduling Controllers,
Nonlinear Transformations. Practical Issues and Implementation, Operational Issues, Case Study

1.
2.
3.
4.

1.
2.
3.
4.
5.
6.

Expected Outcome
Upon successful completion of this course, students will be able to:
Formulate adaptive control design problem
Identify suitable adaptive controller for a given system with uncertain parameters
Apply adaptive design techniques to real-time systems whose parameters change during
operation.
Implement adaptive control schemes to meet the performance objectives in challenging
situations.

References
Karl Johan Astrom and BjomWittenmark, Adaptive Control , Addison Wesley,2003
Shankar Sastry, Adaptive Control, PHI (Eastern Economy Edition), 1989
Karl Johan Astrom, Adaptive Control, Pearson Education, 2001
Petros A Loannou, Jing, Robust Adaptive Control, Prentice-Hall, 1995
Eykhoff P, System Identification: Parameter and State Estimation, 1974
Ljung, System Identification Theory for the User, Prentice-Hall, 1987
COURSE PLAN

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

31

Module

Contents

Hours Allotted

% of Marks in
End-Semester
Examination

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Introduction: Adaptive Control, effects of process variation Adaptive Schemes - Adaptive Control problem - Applications - RealTime Parameter Estimation: Introduction - Regression Models Recursive Least Squares - Exponential Forgetting - Estimating
Parameters in Dynamical Systems - Experimental Conditions Loss
of identifiability due to feedback

15%

II

Deterministic Self-Tuning Regulators: Introduction - Pole Placement

Design, MDPP - Design of Indirect Self-tuning Regulators Continuous Time Self-tuners - Direct Self-tuning Regulators Properties of Direct Self-tuners - Disturbances with Known
Characteristics, Case Study

15%

15%

15%

20%

20%

FIRST INTERNAL EXAM

III

IV

VI

Model Reference Adaptive Systems: Introduction - MIT Rule Significance of Adaptation Gain - Lyapunov Stability Theory - Design
of MRAS Using Lyapunov Theory - Adaptation of a Feedforward
Gain - Applications to Adaptive Control, Case Study
Relations between MRAS and STR - Nonlinear Systems - Feedback
Linearization - Adaptive Feedback Linearization - Back Stepping Adaptive Back Stepping, Case Study
SECOND INTERNAL EXAM
Gain Scheduling: Introduction - Principle - Design of GainScheduling controllers - Nonlinear Transformations - Applications
of Gain Scheduling, Case Study
Practical Issues and Implementation - Controller Implementation Computational Delay - Sampling and Pre- and Post Filtering Controller Windup - Estimator Implementation - Operational Issues
END SEMESTER EXAM

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

32

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course No.

01EE6412

Course Name
New And Renewable Sources
Of Energy

L-T-P
3-0-0

Credits
3

Year of Introduction
2015

Course Objectives
This subject provides sufficient knowledge about the promising new and renewable sources of
energy so as to equip students capable of working with projects related to its aim to take up
research work in connected areas.
Syllabus

Solar energy- Solar radiation measurements- Applications of solar energy- Energy from
oceans- Tidal energy- Wind energy-Small Hydro Power (SHP) Stations- Biomass and
bio-fuels- Geothermal energy-Power from satellite stations- Hydrogen energy
Expected Outcome
Upon successful completion of this course, students will be able to design and analyses
theperformance of small isolated renewable energy sources.

References
1. John W. Twidell, Anthony D Weir, Renewable Energy Resources, English Language
Book

2. Society (ELBS), 1996

3. Godfrey Boyl , Renewable Energy -Power for Sustainable Future, Oxford University
Press, 1996

4. S. A. Abbasi, Naseema Abbasi, Renewable energy sources and their environmental

impact, Prentice-Hall of India, 2001
5. G. D. Rai, Non-conventional energy sources, Khanna Publishers, 2008
6. G. D. Rai, Solar energy utilization, Khanna Publishers, 2000
7. S. L. Sah, Renewable and novel energy sources, M.I. Publications, 1995
8. S. Rao and B. B. Parulekar, Energy Technology, Khanna Publishers, 1999

Cluster: 1

% of Marks in
End-Semester
Examination

Contents

Hours Allotted

Module

COURSE PLAN

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

33

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

II

Direct solar energy-The sun as a perennial source of energy; flow of

energy in the universe and the cycle of matter in the human ecosystem;
direct solar energy utilization
Solar radiation measurements, solar radiation data, estimation of average
solar radiation
Applications of solar energy water heating systems, space heating and
cooling of buildings, solar cooking, solar ponds, solar green houses, solar
thermal electric systems; solar photovoltaic power generation; solar
production of hydrogen.

3
15%
4

15%

FIRST INTERNAL EXAM

III

IV

VI

Energy from oceans-Wave energy generation - potential and kinetic

energy from waves; wave energy conversion devices
Tidal energy - basic principles; tidal power generation systems;- Ocean
thermal energy conversion (OTEC); methods of ocean thermal electric
power generation
Wind energy - basic principles of wind energy conversion; design of
windmills; wind data and energy estimation
Site selection considerations. Types of wind machines-Horizontal axis and
Vertical axis machines
SECOND INTERNAL EXAM
Classification of small hydro power (SHP) stations; description of basic
civil works design considerations;Turbines and generators for SHP;
advantages and limitations.

Biomass and bio-fuels; energy plantation; biogas generation; types

of biogas plants; applications of biogas; energy from wastes,
Chemical energy sources-Types of fuel cells-Batteries
Geothermal energy- Origin and nature of geothermal energy;
classification of geothermal resources; schematic of geothermal power
plants; operational and environmental problems;
Power from satellite stations, Hydrogen energy production-storagetransportation utilization, nuclear fusion energy, cold fusion
END SEMESTER EXAM

Cluster: 1

3
15%
4
4
15%
4

4
20%
3

4
20%
3

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

34

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course No.

Course Name

L-T-P

Credits

Year of Introduction

01EE6116

Sliding Mode Control

3-0-0

2015

Course Objectives
1. To familiarize the students with the methodology for the design and implementation of
sliding mode controllers for any uncertain plant.
2. To design higher order sliding mode controllers and observers.
Syllabus
Introduction to variable structure systems; Mathematical background; existence conditions of
sliding mode; concept of a manifold; sliding surface; sliding mode motion and sliding mode
control; Method of equivalent control Chattering Problem; Approaches of sliding hyper plane
design; Discrete-time sliding mode control; Multi-rate output feedback; Discrete-time sliding
mode control based on multi-rate output feedback techniques; Sliding mode observers;
Introduction to Higher Order Sliding Mode (HOSM) control and observation; Twisting
controller; Super Twisting controller; Lyapunov based sliding mode control; Super twisting
based observers and differentiators
Expected Outcome
Upon successful completion of this course, students will be able to:
1. Design robust nonlinear sliding mode controllers for any uncertain plant.
2. Design higher order sliding mode controllers and observers .
References
1. C. Edwards and S. K. Spurgeon, Sliding mode control: Theory and applications. Taylor
and Francis; 1998.
2. V. I. Utkin, Sliding Modes in Control Optimization. New York: Springer-Verlag; 1992.
3. J. Y. Hung, W. Gao and J. C. Hung, Variable structure control: A survey; IEEE
Transactions on Automatic Control; vol. 40; 1993.
4. Y. W. Weibing Gao and A. Homaifa, Discrete-time variable structure control systems;
IEEE Transactions on Ind. Electronics; vol. 42; no. 2; pp. 117122; 1995.
5. B. Bandyopadhyay and S. Janardhanan, Discrete-time Sliding Mode Control: A Multirate Output Feedback Approach. Lecture Notes in Control and Information Sciences;
Berlin: Springer-Verlag; 2005; no. 323.
6. K. Abidi, J. X. Xu, and Y. Xinghuo, On the discrete-time integral sliding-mode control;
IEEE Transactions on Automatic Control; vol. 52; no. 4; pp. 709715; 2007

COURSE PLAN

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

35

Introduction to variable structure systems; definition of variable

structure and sliding mode; examples of dynamic systems with sliding
modes. Mathematical background: differential equations with
discontinuous right-hand sides; solutions in Filippov sense ; existence
conditions of sliding mode; concept of a manifold; sliding surface;
sliding mode motion and sliding mode control.
Regular form Approach-Pole placement and LQR method. Properties of
sliding mode motion. Reaching laws; methods of equivalent control
Chattering Problem. Approaches of sliding hyper plane design

II

% of Marks in
End-Semester
Examination

Contents

Hours Allotted

Module

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

15%

15%

15%

FIRST INTERNAL EXAM

III

Discrete-time sliding mode control: definitions; design methods;

reaching laws for discrete-time sliding mode control; Switching and
non-switching based discrete-time sliding mode control.
Discrete-time sliding mode control based on Multi-rate Output
Feedback techniques. Terminal Sliding mode control; Integral Sliding 6
mode control - Design of sliding surface and control law development

IV

SECOND INTERNAL EXAM

Sliding mode observers - Need of sliding mode observers; Design of
sliding mode observers; design examples.

VI

Introduction to Higher Order Sliding Mode (HOSM) control and

observation. Twisting controller. Super Twisting controller. Lyapunov
based sliding mode control. Super twisting based observers and
differentiators. Applications of Sliding mode controllers.

15%

20%

20%

END SEMESTER EXAM

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

36

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course No.
01EE6118

Course Name
Stochastic Control

L-T-P

Credits

Year of Introduction

3-0-0

2015

Course Objectives
1. To design suitable performance measure to meet the specification requirements.
2. To analyse the physical system and design the structure of controller by optimizing the
suitable performance criteria.
3. To apply the design algorithms to various physical systems with stochastic parameters.
4. Provides a solid foundation on modeling and analysis of system with stochastic
parameter.
Syllabus
Random Variables; Probability Distribution; Expectations; Functions of Random Variables;
Correlation and auto correlation; Special stochastic Processes; Stochastic State Models;
Continuous Time Systems; Stochastic Integrals; Modelling of physical process by stochastic
differential equations; Analysis of dynamical systems with Stochastic inputs; Spectral
Factorization of Discrete Time Processes; Analysis of Continuous Time Systems with Stochastic
input.

Expected Outcome
Upon successful completion of this course, students will be able to:
1. Analyse the stability and performance of the systems with stochastic parameters.
2. Identify suitable estimation algorithm for stochastic systems.
3. Formulate and design suitable control structure of stochastic system model.
4. Implement optimal control algorithms to achieve specified performance for systems with
stochastic parameters.

References
1. Jason L. Speyer and Walter H. Chung, Stochastic Process, Estimation and Control, Siam
Philadelphia, 2008.
2. Karl J. strm, Introduction to Stochastic Control Theory, Academic Press, New York
and London, 1970.
3. KaddourNajim, Enso Ikonen and Ait-KadiDaoud, Stochastic Processes Estimation,
Optimization & Analysis, Kogan Page Science, London and Sterling, 2004.
4. Birkhuser, Stochastic Switching Systems Analysis and Design, Library of Congress
Cataloguing-in-Publication Data, United States of America, 2006.
COURSE PLAN

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

37

II

.
Introduction: Random Variables Probability Distribution Function
Probability Density Function Functions of Random Variables

Expectations and Moments of Random Variables Conditional

Expectations and Conditional Probabilities Correlation Auto Corelation - Concept of Special Stochastic Processes Covariance Function
Spectral Density.

% of Marks in
End-Semester
Examination

Contents

Hours Allotted

Module

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

15

15

15

15

20

20

FIRST INTERNAL EXAM

III

IV

V
VI

Stochastic State Models: Discrete Time Systems Solution of Stochastic

Difference Equations Continuous Time Systems
Stochastic Integrals Linear Stochastic Differential Equations ITO
Differentiation Rule Modelling of Physical Process by Stochastic
Differential Equations.
SECOND INTERNAL EXAM
Analysis of Dynamical Systems with Stochastic Inputs: Discrete Time
Systems Spectral Factorization of Discrete Time Processes
Analysis of Continuous Time Systems with Stochastic Input Spectral
Factorization of Continuous Time Process.
END SEMESTER EXAM

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

38

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course No.

Course Name

L-T-P

Credits

Year of Introduction

01EE6122

Industrial Data Networks

3-0-0

2015

Course Objectives
1. To understand the basics of data networks and internetworking
2. To have adequate knowledge in various communication protocols
3. To study the industrial data networks
Syllabus
Data Network Fundamentals; Data link control protocol; Bridges, Routers, Gateways; Standard
ETHERNET and ARCNET configuration special requirement for networks used for control;
Evolution of signal standard; HART communication protocol; Communication modes; General
Fieldbus; OLE for Process Control; MODBUS protocol structure; Profibus protocol stack; Profibus
communication model - communication objects; foundation field bus; Industrial Ethernet and
Wireless Communication; Radio and wireless communication.
Expected Outcome
Upon successful completion of this course, students will be able to:
1. Explain and analyse the principles and functionalities of various industrial
Communication Protocols
2. Implement and analyse industrial Ethernet and wireless communication modules
References
1. Steve Mackay, Edwin Wrijut, Deon Reynders and John Park, Practical Industrial Data
Networks Design, Installation and Troubleshooting, Newnes publication, Elsevier, 1st ed.,
2004.
2. William Buchanan Computer Busses, CRC Press, 2000.
3. Andrew S. Tanenbaum, Modern Operating Systems, Prentice Hall India, 2003
4. Theodore S. Rappaport, Wireless Communication: Principles & Practice, 2nd ed., 2001,
Prentice Hall of India
5. Willam Stallings, Wireless Communication & Networks, 2nd ed., 2005, Prentice Hall of
India

Cluster: 1

Contents

% of Marks in
End-Semester
Examination

Hours Allotted

Module

COURSE PLAN

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

39

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Data Network Fundamentals: Network hierarchy and switching Open

System Interconnection model of ISO Data link control protocol: HDLC Media access protocol Command/response Token passing
CSMA/CD, TCP/IP.

15%

15%

15%

15%

SECOND INTERNAL EXAM

Industrial Ethernet and Wireless Communication: Industrial Ethernet:
Introduction - 10Mbps Ethernet, 100Mbps Ethernet.

20%

Radio and wireless communication: Introduction - components of radio

link - the radio spectrum and frequency allocation - radio modems.

20%

Bridges Routers Gateways Standard ETHERNET and ARCNET

configuration special requirement for networks used for control.

II

FIRST INTERNAL EXAM

III

Hart, Fieldbus, Modbus and Profibus PA/DP/FMS and FF:

Introduction - Evolution of signal standard HART communication
protocol Communication modes HART networks - HART
commands - HART applications. Fieldbus: Introduction - General
Fieldbus architecture - Basic requirements of Field bus standard Fieldbus topology - Interoperability - Interchangeability

IV

VI

Introduction to OLE for process control (OPC). MODBUS protocol

structure - function codes - troubleshooting Profibus: Introduction profibus protocol stack profibus communication model communication objects system operation - troubleshooting - review of
foundation field bus.

END SEMESTER EXAM

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

40

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course No.

Course Name

L-T-P

Credits

Year of Introduction

01CE6414

Sustainable Development
and Green Technology

3-0-0

2015

Course Objectives
The purpose of this course is:1. To bring in to focus the basics aspects of sustainable development.
2. To have a general understanding on global environmental issues and the different
aspects involved in Green Technology

Syllabus
History and emergence of the concept of Sustainable Development; Economic dimensions,
Environmental dimension; Framework for sustainability, assessment of sustainable performance;
Industrialization, Globalization and Environment; Global environmental issues;Waste land
reclamation, Resource degradation, carbon credits and Carbon trading Carbon footprint;
International summits, conventions agreements, trans boundary issues; Introduction to Renewable
energy Technologies, Biomass, Biofuels; Carbon sequestration in biomass; Basics of organic farming
and vermicomposting-microbial biofertilizers-biopesticides-bioremediation-biosensors-bio chipsbiosurfactants-phyto remediation-E-waste management

Expected Outcome
The student will be able to
1. Understand the concept of sustainable development
2. To have an insight in to global environmental issues
3. Understand the different aspects of green Technology
References
1. Kurian Joseph & R. Nagendran Essential Environmental studies. Pearson education, New
Delhi, 2004.
2. S.C Bhatia, Environmental Pollution and Control in Chemical Process Industries, Khanna
Publishers, Delhi, 2005.
3. Kirkby, J.O Keefe, P. and Timberlake, Sustainable Development, Earthscan Publication,
London, 1996.
4. Mackenthun, K.M., Basic Concepts in Environmental Management, Lewis Publication,
5. London, 1998.
6. S.S Purohit ,Green Technology-An approach for sustainable environment, Agrobios
publication, India, 2008.

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

41

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

II

Contents

History and emergence of the concept of Sustainable Development

Framework of Sustainability, economic dimensions- environmental
dimension
Framework for achieving sustainability, assessment of sustainable
performance- Industrialization Globalization and Environment

% of Marks in
End-Semester
Examination

Hours Allotted

Module

COURSE PLAN

15

15

FIRST INTERNAL EXAM

III

Global environmental issues: desertification green house gases-greenhouse effect, ozone layer
depletion- global warming acid rain deforestation.

IV

Waste land reclamation-Resource degradation, carbon credits and

Carbon trading-International summits- conventions-agreements-trans
boundary issues- Carbon footprint

VI

SECOND INTERNAL EXAM

Introduction to Renewable energy Technologies, Biomass- Biofuelsfirst,second and third generation bio diesel- advantages and
disadvantages-source, efficiency,emissions-Carbon sequestration in
biomass.
Basics of organic farming and vermicomposting , Microbial biofertilizers
- biopesticides- bioremediation -biosensors-bio chips- biosurfactants,
phyto-remediation, E-waste Management

15

15

20

20

END SEMESTER EXAM

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

42

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course No.
01CS6552

Course Name
Design of Real Time /
Embedded Systems

L-T-P

Credits

Year of Introduction

3-0-0

2015

Course Objectives
1.
2.
3.
4.
5.

To understand the principles of software design for resource constrained devices

To understand real-time/embedded software modelling with UML
To understand and apply real-time design patterns
To describes software-engineering techniques to develop software for embedded systems.
To examine requirements analysis, define the object structure and behaviour, architectural
and mechanistic design, and more detailed designs that encompass data structure,
operations, and exceptions.

Syllabus
Basic concepts of Real-Time Systems- Safety critical systems - Real Time Operating Systems Requirement Analysis of Real-time systems - Behavioural Object analysis - Architectural Design
- Mechanistic Design - Dynamic Modelling - Real Time Frameworks - Design Automation Tools
- Real time Communication- Real Time Databases - Performance Analysis of Real Time Systems.

Expected Outcome
1. Students will be able to describe the structural and behavioural aspects critical to real-time
systems using object-based Unified Modelling Language (UML)

References
1. Doing Hard Time: Developing Real-Time Systems with UML, Objects, Frameworks and
Patterns Bruce Powel Douglass, AW (1999)
2. Designing Concurrent, Distributed, and Real-Time Applications with UML H. Gomaa,
AW (2000)
3. Real Time UML: Advances in the UML for Real-Time Systems (3rd Ed), Bruce Powel
Douglass, AW Object Technology Series (2004)
4. Real-Time Design Patterns: Robust Scalable Architecture for Real-Time Systems, Bruce
Powel Douglass, AW Object Technology Series (2002)
5. Real Time Systems: theory and Practice, Rajib Mall, Pearson 2008.

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

43

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Contents

Introduction to Objects and the Unified Modelling

Language - Basic concepts of Real-Time Systems

I
Safety critical systems Object oriented process for embedded
systems(ROPES)
Scheduling Real Time Tasks- Types- Scheduling in Multiprocessor and
Distributed systems.
II

Real Time Operating Systems: Features of real time systems - Case

studies of QNX, VxWorks, Windows CE

% of Marks in
End-Semester
Examination

Hours Allotted

Module

COURSE PLAN

20
3

4
15
3

FIRST INTERNAL EXAM

III

Requirement Analysis of Real-time systems: Use cases Heuristics for

good Requirement analysis diagrams Structural Object Analysis: Key
strategies for object identification - Heuristics for good class diagrams.
Behavioural Object analysis: UML State charts State chart heuristics.

IV

Architectural Design: Tasking Model, Component Model, Deployment

Model, Safety / Reliability Model
Mechanistic Design Detailed Design Threads and Schedulability.
SECOND INTERNAL EXAM
Dynamic Modelling Behavioral patterns- Model level debugging and
Testing.

Real Time Frameworks Framework Design Principles and Metrics Design Automation Tools: Rhapsody OXF
Real time Communication - Real Time Databases

VI

Performance Analysis of Real Time Systems - Real Time Scheduling

Theory
END SEMESTER EXAM

Cluster: 1

15

2
4

15

3
20
4
4

15

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

44

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course No.

Course Name

L-T-P

Credits

Year of Introduction

01 ME 6316

Advanced Numerical
Techniques

3-0-0

2015

Course Objectives:
1. To develop numerical skills in the solution of mathematical equations of various scientific
and engineering problems.
2. To acquire knowledge in the data analysis and statistical interpretation of experimental
results .
3. To acquire knowledge on the various prediction methods based on the experimental data.
4. To get knowledge on how to minimize the error growth in a particular solution procedure

Syllabus
Solutions of simultaneous equations Direct and Indirect methods-Gauss elimination, Gauss
Seidel and Relaxation methods-Convergence, Eigen value problem-vector iteration method.
Eigen Problems:Introduction,Basic characteristics,Power method,Inverse power method, Shifting
Eigen valuesNumerical differential, Numerical integration-Newton Cotes integration formula
,Gauss quadrature, Error estimate ,Double integration .Solution of ordinary differential
equations-single step and multi- step methods, Simultaneous first order differential equations,
Higher order differential equations. Numerical solution of integral equations.Partial Differential
Equations: General features, classification. Equilibrium problems, Eigen value problems and
propagation problems. Elliptic Equation: Introduction to Finite Difference Method, Finite
Difference approximations of Laplace equation, Consistency, order, stability and convergence,
Modified Differential equation. Finite Difference solution of Laplace equation.- Jacobi, Gauss
Seidel, Relaxation, and Successive over relaxation methods. Derivative boundary conditions.
Finite Difference solution of Poison equation-The Alternating Direction Implicit (ADI)
method.Introduction to Finite Difference Method for solving propagation problemsFundamental consideration-General features of convection, Diffusion and Dispersion .Finite
difference grids and finite difference approximation. Finite difference equations. Consistency,
order, stability and convergence. Modified Differential equation. Stability analysis-Discrete
perturbation
method
and
von
Neumann
method.ParabolicEquations(TheDiffusionProblem):FTCS,Richardson,DuFortFrankel,\CrankNicolson.Drirvative boundary conditions.Hyperbolic Equations(The Convection
Problem): Introduction, The Lax Method,FTCS,Upwind, LeapFrog, The Lax Wendroff Method ,
MacCormack methods.

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

45

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Expected Outcome
After the completion of this course, students will get necessary foundation on the following:
Various Numerical strategy and its comparisons in the solution of mathematical
equations.
How to build mathematical formulations of various physical problems.
Statistical interpretation and data analysis of experimental results.
How to choose a particular numericalscheme for solving a physical problems .

References
1. Numerical methods for Engineers and Scientists, Joe D.Hoffman, McGraw-Hill
2. Numerical methods for Scientific and Engineering computation-Jain.M.K
3. Introduction to Numerical Analysis-Gupta A and Boss S C.
4. Introduction to Numerical Analysis-Hilderbrand FB
5. An Introduction to Numerical Analysis-Kendall E Atkinson
6. Statistics-Murrey R Spiegel
7. Numerical Mathematical Analysis James B.Scarborough
8. Applied Numerical Analysis-C F Gerald&P.O. Wheatley
9. Introductory Method of Numerical Analysis-S.S .Sastry

Contents

Solutions of simultaneous equations Direct and Indirect methodsGauss elimination, Gauss Seidel and Relaxation methodsConvergence, Eigen value problem-vector iteration method.
Eigen Problems:
Introduction, Basic characteristics, Power method ,Inverse power
method, Shifting Eigen values.

Cluster: 1

% of Marks in
End-Semester
Examination

Hours Allotted

Module

COURSE PLAN

4
15
3

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

46

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

II

III

IV

VI

Numerical differential, Numerical integration-Newton Cotes

integration formula ,Gauss quadrature, Error estimate ,Double
integration .
Solution of ordinary differential equations-single step and multi- step
methods, Simultaneous first order differential equations, Higher order
differential equations. Numerical solution of integral equations
FIRST INTERNAL EXAM
. Partial Differential Equations :General features, classification.
Equilibrium problems, Eigen value problems and propagation
problems.
Elliptic Equation: Introduction to Finite Difference Method, Finite
Difference approximations of Laplace equation, Consistency, order,
stability and convergence, Modified Differential equation.
Finite Difference solution of Laplace equation.- Jacobi, Gauss Seidel,
Relaxation, and Successive over relaxation methods. Derivative
boundary conditions.
Finite Difference solution of Poison equation-The
Alternating
Direction Implicit(ADI)method.
SECOND INTERNAL EXAM
Introduction to Finite Difference Method for solving propagation
problems-Fundamental consideration-General features of convection,
Diffusion and Dispersion .Finite difference grids and finite difference
approximation. Finite difference equations.
Consistency, order, stability and convergence. Modified Differential
equation. Stability analysis-Discrete perturbation method and von
Neumann method.
ParabolicEquations(TheDiffusionProblem):FTCS,Richardson,DuFortFrankel,\Crank-Nicolson.Drirvative boundary conditions.
Hyperbolic Equations(The Convection Problem): Introduction,The Lax
Method, FTCS, Upwind, LeapFrog,The Lax Wendroff Method , Mac
Cormack Methods

4
15
3

3
15
4

4
15
3

4
20
3
4
20
3

END SEMESTER EXAM

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

47

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course
No.
01EE6124

Course Name

L-T-P

Credits

Year of Introduction

Robotics and Control

3-0-0

2015

Course Objectives
1. To familiarize students with robot classifications and configurations.
2. To acquaint the students with Forward Kinematics and Inverse Kinematics, Trajectory
planning, dynamic modeling, control and applications of robots.
3. To acquaint the students with mobile robot locomotion and kinematics, environment
perception, localization, mapping and navigation of mobile robots.

Syllabus
Introduction to Robotics; Co-ordinate frames; Kinematic analysis of robots (DOF3); Inverse
kinematics of robots (DOF3);Basic study of other robots up to 6 DOF; Trajectory planning;
Manipulator Dynamics; Robot Model; Control schemes; Robot vision; Applications;Autonomous
mobile robots; Wheeled mobile robots; Basics of Legged mobile robos, Kinematic Models; Sensors
and beacons.

Expected Outcome
Upon successful completion of this course, students will be able to:
1. To obtain kinematic model of a robot (DOF 3).
2. To develop dynamic model of a robot (DOF 3).
3. To design a linear / nonlinear controller for a robot.
4. To identify the various types of sensors and recognize common uses.
5. To choose a sensor for a robot depending on the application.
6. To design a simple mobile robot for accomplishing a task autonomously.

References
1. 1. Robert J Schilling, Fundamentals of Robotics-Analysis and Control, Pearson
Education, Asia.
2. R. K. Mittal and J. Nagrath, Robotics and Control, Tata McGraw-Hill Education.
3. R. Siegwart, I. Nourbakhsh, D. Scaramuzza, Introduction to Autonomous Robots,
Intelligent Robotics and Autonomous Agents series, The MIT Press, Massachusetts Institute
of Technology, Cambridge, Massachusetts.
4. Ashitava Ghosal, Robotics-Fundamental concepts and analysis, Oxford University press.
5. Janakiraman P A, "Robotics and Image Processing", Tata McGraw Hill. New Delhi,
1995
6. S R Deb, "Robotics Technology and Flexible Automation", Tata McGraw Hill, New Delhi
7. Peter Corke, Robotics, Vision and Control Fundamental Algorithms in MATLAB,
Springer Tracts in Advanced Robotics, volume 73.
8. Lorenzo Sciavicco & Bruno Siciliano, Modeling and Control of Robot manipulator,
The McGraw Hill Companies.

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

48

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

% of Marks in
End-Semester
Examination

Introduction to Robotics, classification, specifications,

Work
envelopes of different robots, notations, Co-ordinate frames,
Rotations, Translations, Homogeneous coordinates, Direct kinematics,
The arm equation, Kinematic analysis of robots (DOF3)- examples,
Inverse kinematics problem, Inverse kinematics of robots (DOF3)examples.
Basic study of other robots up to 6 DOF, Workspace analysis, Pick and
place operation, Tool configuration Jacobian and manipulator Jacobian
matrix. Trajectory planning - Joint space and Cartesian space
techniques.
FIRST INTERNAL EXAM

15%

15%

Manipulator Dynamics-Dynamic models of robots using Lagrange's

Equation (DOF2), State space model of the robot and the linearized
model. The control problem- Linear control Schemes, Single axis
PID control, PD gravity control, Nonlinear control SchemesComputed torque control, Variable Structure control, Force and
Impedance control, co-ordinated control.
Robot Vision - Image representation, template matching, edge and
corner detection, shape analysis, segmentation, perspective
transformations, camera calibration, Robotapplications-material
handling applications, Machine loading and unloading, spot welding,
arc welding, spray painting and technical specifications of the robot
used for these applications.
SECOND INTERNAL EXAM
Autonomous mobile robots- wheeled mobile robots- types, mobile
robot kinematics- kinematic models and constraints, representing
robot position, forward kinematic models, car lke mobile robotMoving to a point, following a line, following a path, moving to a
pose, Legged locomotion-Basics.
Perception- sensors for mobile robots, Sensor classification,
Characterizing sensor performance, Wheel/motor sensors, Heading
sensors, Accelerometers, IMU, Ground-based beacons, Active ranging,
Motion/speed sensors, Vision-based sensors, Basics of mobile robot
localization and navigation
END SEMESTER EXAM

15%

15%

20%

20%

Module

Contents

Hours Allotted

COURSE PLAN

II

III

IV

V1

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

49

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course No.
01EE6214

Course Name
Flight Dynamics and Control

L-T-P

Credits

Year of Introduction

3-0-0

2015

Course Objectives
To give insight into the dynamics, performance and control of aircrafts.

Syllabus
Aircraft Performance, Equation of motion of aircraft-level, un-accelerated flight,take-off
performance, landingperformance, absolute and serviceceilings. Aircraft Stability and Control,
Aircraft transfer functions, control surface actuator, autopilot, stabilityaugmentation.

Expected Outcome
Upon successful completion of this course, students will be able to develop the point
massmodel of aircrafts, understand their dynamics and analyse their performances and
stabilityissues.
References
1.
2.
3.
4.
5.
6.
7.
8.

John D Anderson Jr, 'Introduction to Flight McGraw Hill International,

5/e,2005
John D. Anderson Jr, 'Fundamentals of Aerodynamics', Me Graw Hill
International, 4/e, 2007.
Thomas R. Yechout, Introduction to Aircraft Flight Mechanics, AIAA Education
Series,2003.
A.C.Kermode, ''Mechanics of Flight', Pearson Education, 10/e, 2005.
John H. Blakelock, Automatic Control of Aircraft and Missiles 2/e, Wiley- Inter
Science Publication, John Wiley and Sons, Inc., 1991.
Bernard Etkin, 'Dynamics of flight Stability and Control', John Wiley and Sons
Inc. 3/e, 1996.
Robert C. Nelson, Flight Stability and Automatic Control, WCB McGraw-Hill,
2/e, 1998.
Louis V. Schmidt, Introduction to Aircraft Flight Dynamics AIAA Education
Series, 1997
COURSE PLAN

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

50

Module

Contents

Hours Allotted

% of Marks in
End-Semester
Examination

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Brief history of aviation- Aircraft Performance Drag Polar- Drag polar of

vehicles from low speed tohypersonic speed.

15

II

Equation of motion of aircraft-level, un-accelerated flight- thrust required

for level, un-accelerated flight-thrust available and maximum velocitypower required for level,un-accelerated flight-power available and
maximumvelocity- altitude effects on power required and availablenumerical problems.
FIRST INTERNAL EXAM

8
15

III

Rate of climb- gliding flight- time to climb- range and endurance- takeoff performance- landing performance- numerical problems

15

IV

Turning flight and V-n diagram-wing loading -load factor-absolute and

service ceilings.

10

15

20

SECOND INTERNAL EXAM

V

VI

Aircraft Stability and Control - Longitudinal and lateral dynamicsstability and control-modes of motion: short period-phugoid-spiral
divergence-dutch roll-stability derivatives-roll coupling.
Aircraft transfer functions-control surface actuator - longitudinal
autopilots- displacementautopilot- pitch autopilot - block diagrams-root
locus-flight path stabilization- accelerationcontrol systems -lateral
autopilots-yaw and roll autopilots - attitude control systems stability
augmentation- instrument landing systems.
END SEMESTER EXAM

Cluster: 1

20

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

51

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course
No.
01EE6126

Course Name

L-T-P

Credits

Year of Introduction

Soft Computing Techniques

3-0-0

2015

Course Objectives
1. To provide concepts of soft computing and design controllers based on ANN and Fuzzy
systems.
2. To identify systems using soft computing techniques.
3. To give an exposure to optimization using genetic algorithm.
4. To provide a knowledge on hybrid systems.

Syllabus
Biological foundations; ANN models; Feed Forward Network; Radial Basis Function; Learning
process; Supervised and unsupervised learning; Least mean square algorithm; Back
propagation algorithm; Applications in pattern recognition and other engineering problems;
Case studies; Identification and control of linear and nonlinear systems; Fuzzy set operations;
Fuzzy control systems; Classical fuzzy control problems; Genetic Algorithm; Adaptive fuzzy
systems; Hybrid Systems; Application of soft computing techniques in physical systems.
Expected Outcome
Upon successful completion of this course, students will be able to:
1. To design a complete feedback system based on ANN or Fuzzy control.
2. To identify systems using softcomputing techniques.
3. To use genetic algorithm to find optimal solution to a given problem.
4. To design systems by judiciously choosing hybrid techniques.
REFERENCES
1. J. M. Zurada, Introduction to artificial neural systems, Jaico Publishers, 1992.
2. Simon Haykins, Neural Networks - A comprehensive foundation, Macmillan College, Proc,
Con, Inc, New York. 1994.
3. D. Driankov. H. Hellendorn, M. Reinfrank, Fuzzy Control - An Introduction, Narosa
Publishing House, New Delhi, 1993.
4. H J Zimmermann, Fuzzy set theory and its applications, 11th ed., Academic Publishers,
London.
5. G. J. Klir, Boyuan, Fuzzy sets and fuzzy logic, Prentice Hall of India (P) Ltd, 1997.
6. Stamatios V Kartalopoulos, Understanding neural networks and fuzzy logic basic concepts
and applications, Prentice Hall of India (P) Ltd, New Delhi, 2000.
7. Timothy J. Ross, Fuzzy logic with Engineering Applications, McGraw Hill, New York.
8. Suran Goonatilake, Sukhdev Khebbal (Eds,), Intelligent hybrid systems, John Wiley & Sons,
New York, 1995.
9. Vose Michael D., Simple Genetic Algorithm - Foundations and Theory, Prentice Hall of
India.
10. Rajasekaran & Pai, Neural Networks, Fuzzy Logic, and Genetic Algorithms: Synthesis and
Applications, Prentice-Hall of India, 2007.
11. J. S. Roger Jang, C. T. Sun and E. Mizutani, Neuro Fuzzy and Soft Computing, prentice Hall
inc., New Jersey, 1997.
Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

52

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Module

Contents

Hours Allotted

% of Marks in
End-Semester
Examination

COURSE PLAN

Biological foundations - ANN models - Types of activation function Introduction to Network architectures - Multi Layer Feed Forward
Network (MLFFN) - Radial Basis Function Network (RBFN) - Recurring
Neural Network (RNN).

15

15

15

15

SECOND INTERNAL EXAM

Genetic Algorithm: Introduction - basic concepts of Genetic Algorithm,
applications.

20

Hybrid Systems: Adaptive Neuro fuzzy Inference System (ANF1S),

VI Neuro Genetic, Fuzzy-Genetic systems.

20

II

Learning process : Supervised and unsupervised learning - Errorcorrection learning - Hebbian learning Boltzmen learning - Single
layer and multilayer perceptrons - Least mean square algorithm
Back propagation algorithm - Applications in pattern recognition and
other engineering problems Casestudies - Identification and control of
linear and nonlinear systems.
FIRST INTERNAL EXAM

III

Fuzzy sets: Fuzzy set operations - Properties - Membership

functions, Fuzzy to crisp conversion, fuzzification and
defuzzification methods, applications in engineering problems.

IV

Fuzzy control systems: Introduction - simple fuzzy logic controllers

with examples - Special forms of fuzzy logic models, classical fuzzy
control problems, inverted pendulum, image processing, home
heating system, Adaptive fuzzy systems.

END SEMESTER EXAM

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

53

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course No.
01EE6426

Course Name
Smart Grid Technologies and
Applications

L-T-P

Credits

Year of Introduction

3-0-0

2015

Course Objectives
Objective of the course is to develop a conceptual basis for Smart Grid and to equip the students
with a thorough understanding of various communication technologies and power management
issues with smart grid.
Syllabus
Evolution of Electric Grid, Smart meters, Smart Substations, Substation Automation, Smart energy
efficient end use devices-Smart distributed energy resources- Energy management-Role of
technology in demand response- Demand Side Management; Load Frequency Control (LFC) in
Micro Grid System, Advanced metering Infrastructure

Expected Outcome
Upon successful completion of this course, students will be able to:

1. Understand features and scope of smart grid technology.

2. Assess the role of automation in substation.
3. Understand operation and importance of demand side management, voltage
and frequency control in smart micro grid

References

A Stuart Borlase, Smart Grids, Infrastructure, Technology and Solutions, CRC Press,
2013
Ali Keyhani, Mohammad N. Marwali, Min Dai Integration of Green and Renewable
Energy in Electric Power Systems, Wiley
Clark W. Gellings, The Smart Grid: Enabling Energy Efficiency and Demand Response,
CRC Press
James Momoh, Smart Grid:Fundamentals of Design and Analysis, Wiley, IEEE Press,
2012.
A.G. Phadke and J.S. Thorp, Synchronized Phasor Measurements and their
Applications, Springer Edition, 2010.
Iqbal Hussein, Electric and Hybrid Vehicles: Design Fundamentals, CRC Press, 2003.
JanakaEkanayake, Nick Jenkins, Kithsiri Liyanage, Jianzhong Wu, Akihiko Yokoyama,
Smart Grid: Technology and Applications, Wiley 2012.
Gautam Shroff, Enterprise Cloud Computing Technology Architecture Applications
[ISBN: 978-0521137355]

COURSE PLAN

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

54

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

% of Marks in
End-Semester
Examination

Evolution of Electric Grid, Concept, Definitions and Need for Smart

Grid, Smart grid drivers, functions, opportunities, challenges and
benefits

15

Present development & International policies in Smart Grid.

Module

Hours
Allotted

Contents

Indian Smart Grid. Components and Architecture of Smart Grid

Design
II

III

IV

VI

Introduction to Smart Meters, Real Time Pricing- Models, Smart

Appliances, Automatic Meter Reading(AMR), Plug in Hybrid Electric
Vehicles(PHEV), Vehicle to Grid, Smart Sensors, Home & Building
Automation.
FIRST INTERNAL EXAM

15

Smart Substations, Substation Automation, Introduction to IEC 61850,

Feeder Automation. Geographic Information System(GIS)

15

Intelligent Electronic Devices(IED) & their application for monitoring &

protection, Wide Area Measurement System(WAMS), Phase
Measurement Unit(PMU).
Smart energy efficient end use devices-Smart distributed energy
resources- Energy management-Role of technology in demand
response- Demand Side Management
Load Curves-Load Shaping Objectives-Methodologies-Barriers. Peak
load saving-Constraints-Problem formulation- Case study

SECOND INTERNAL EXAM

Load Frequency Control (LFC) in Micro Grid System Voltage Control
in Micro Grid System
Reactive Power Control in Smart Grid.

15

20

Advanced Metering Infrastructure (AMI), Home Area Network (HAN),

Bluetooth, Zig-Bee, GPS, Wi-Fi, Wi-Max based communication

Cloud computing in smart grid. Private, public and Hybrid

cloud. Cloud architecture of smart grid.

20

END SEMESTER EXAM

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

55

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course No.

Course Name

L-T-P

Credits

Year of Introduction

01CE6424

Environment and Pollution

3-0-0

2015

Course Objectives
The purpose of this course is:1. To impart knowledge why environmental problems arise and why they should be tackled
2. To make the students aware about the importance of protection of environment
3. Generates curiosity, creativity, competence and compassion in students

Syllabus
Environment-Interdisciplinary Nature of environment- Components of Environment- EcologyEcosystem-Types- Food chain- Food web-Energy flow-Ecological pyramids-Material CyclingIntroduction to environmental laws and Policies (Global and Indian Scenario)-Natural resources
of environment- Environmental Ethics-Social, economical and environmental dimensions of
sustainable development-Water pollution- Air pollution- Solid waste Management-E waste
Management - Population explosion- Effects- Global and Indian scenario- Key features of National
population policy- Environment Management tools EIA, LCA and SwoT analysis - Global
environmental issues- Green House Effect, Global warming, Ozone layer depletion, Acid rain,
Deforestation. Introduction to the applications of Remote sensing and GIS in environmental
engineering.

Expected Outcome
The student will be able to
1. To develop a deeper concern for the environment and a sense of commitment and
responsibility to take proactive actions
2. To develop necessary skills and attitudes and motivate them to work together and
individually for a better man-nature relationship
3. To create a society of motivated citizens to strive towards a life in perfect harmony with
nature
References
1. Kurian Joseph &R.Nagendran, Essentials of Environmental Studies, Pearson Education
(Singapore) pte.Ltd, New Delhi, 2004.
2. B.C.Bhartia, Environmental Pollution and Control in Chemical Process Industries, Khanna
Publishers, Delhi, 2001.
3. P.AarneVesiland, Introduction to Environmental Engineering, PWS publishing company
Boston, 1997.
4. Suresh K Dhameja, Environmental Engineering and Management, S.K.Kataria& Sons,
Delhi, 2010.
5. M.Anji Reddy, Remote Sensing and Geographical Information System, B.S.Publications,
Hyderabad, 2008.
6. S.T Misra&S.N Pandey, Essential environmental studies, ANNE Books INDIA Publications
New Delhi, 2008.
7. Paul L Bishop, Pollution Prevention: Fundamentals and Practice, McGraw Hill
International, Boston,2000.
Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

56

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

II

Contents

Environment-Scope and Definition-Interdisciplinary Nature of

environment-Man
and
Environment-Components
of
EnvironmentEcology-Ecosystem-Types- Food chain- Food web- Energy
flow-Ecological pyramids
Material Cycling- Hydrologic cycle, Carbon cycle, Nitrogen
cycleIntroduction to environmental laws and Policies (Global and
Indian Scenario)

% of Marks in
End-Semester
Examination

Hours Allotted

Module

COURSE PLAN

15

15

FIRST INTERNAL EXAM

III

IV

VI

Natural
resources of environment- Water, land and energy ,
Environmental Ethics, Social, economical and environmental
dimensions of sustainable development
Water pollution-Characteristics- Sources- Effects, Air pollution- SourcesTypes- Effects, Solid waste Management-Landfill-IncinerationComposting- E Waste Management
SECOND INTERNAL EXAM
Population explosion- Effects, Global and Indian scenario, Key features
of National population policy, Environment Management tools EIA,
LCA and SwoT analysis
Global environmental issues- Green House Effect, Global warming,
Ozone layer depletion, Acid rain, Deforestation. Introduction to the
applications of Remote sensing and GIS in environmental engineering.
END SEMESTER EXAM

Cluster: 1

15

15

20

20

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

57

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course No.
01EE6292

Course Name
Mini Project

L-T-P

Credits

Year of Introduction

0-0-4

2015

Course Objectives
To make students
Design and develop a system or application in the area of their specialization.
Approach
The student shall present two seminars and submit a report.The first seminar shall
highlight the topic, objectives, methodology, design and expected results. The
second seminar is the presentation of the work / hardwareimplementation.
Expected Outcome

Upon successful completion of the miniproject, the student should be able to

1. Identify and solve various problems associated with designing and implementing a
system or application.
2. Test the designed system or application.

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

58

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course No.

Course Name

L-T-P

Credits

Year of Introduction

01EE6194

Advanced Control Lab

0-0-2

2015

Course Objectives
1. Design and implementation of control systems.
2. Design and implementation of PID controller and familiarize the role of P, I and D in
feedback control.
3. Practice of control system design in inverted pendulum system which is widely used
as a benchmark for testing control algorithms.
5. Implementation of real time controller for dynamic systems like temperature control
systems, speed control system servomotors in digital and analog mode

Syllabus
Realization of a system using discrete components; application of P, PI and PID Controllers;
Zeigler Nichols Tuning; Speed and position control; Digital control; Implementation of digital
controller using microprocessor; controller for practical systems (eg. inverted pendulum
system; Twin Rotor MIMO, Mobile Robot); Design and realization of compensators for a real
time system; Controller design for a real time system using microcontroller/ DSP/ PC;
Nonlinear System control
Expected Outcome
Upon successful completion of this course, students will be able to:
1. Get exposure to practical aspects of control systems design.
2. Equip the students to perform system identification (make measurements of a system
and determine the transfer function).
3. Acquire an ability to critically analyse different dynamic systems and choose a
suitable controller (using multi-loop controller, PID controller).
4. Equip the students to apply the concepts of linear and non-linear theory to the design
of dynamic systems.

II

Hours
Allotted

Experiment
No:

COURSE PLAN

Title

Realization of system using discrete components

Real Time Liquid Level control Using P, PI and PID Controllers

Cluster: 1

2
Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control
59

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Zeigler Nichols Tuning of P, PI and PID controller for Temperature

III

Control

System
IV

Speed and position control using DC servo motor

Digital control of speed and position using DC servomotor.

VI

Design of a controller for an inverted pendulum system.

VII

Nonlinear Relay Control System.

2
2
4
2

VIII Design and realization of compensators for a real time system.

Controller design for a real time system (temperature control or a motor)

using
microcontroller/ DSP / PC
IX

a. Acquire input sensor data using data acquisition system.

b. Process the data.

c. Implement a simple controller using the processor.
d. Output the control signals to the actuator.
Controller design of Twin Rotor MIMO
X

OR

Design of a tracking controller for a mobile robot

INTERNAL EXAMINATION

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

60

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course
No.
01EE7211

Course Name
Helicopter Dynamics

L-T-P

Credits

Year of Introduction

3-0-0

2015

Course Objectives
To give insight into the principle of operation and control of Helicopters.

Syllabus
Introduction to Helicopter Flight, Rotor Aerodynamics and loading, Induced Flow Ratio, Thrust
and Power Coefficients. Climb, Descent,Forward Flight, Blade Element Analysis, Rotor
Performance. Helicopter Performance, Forward Flight Performance, Reverse Flow Performance
Analysis, Stability and Control, Flying Qualities.

Expected Outcome
Upon successful completion of this course, students will have a clear
understanding of the dynamics andcontrol of Helicopters.
References
1.
Wayne Johnson, 'Helicopter Theory, Dover Publications Inc., New York, Second
Edition, 1994.
2. J. Gordon Leishman, 'Principles of Helicopter Aerodynamics', Cambridge University
Press, Second Edition. 2006.

Introduction- History of Helicopter Flight-Rotor AerodynamicsConfiguration

Cluster: 1

% of Marks in
End-Semester
Examination

Contents

Hours Allotted

Module

COURSE PLAN

15

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

61

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

II

Operation-Vertical Flight-Disk Loading and Power LoadingInduced Flow Ratio-Thrust and Power Coefficients-Figure of MeritInduced Tip Loss

15

FIRST INTERNAL EXAM

III

IV

Climb and Descent-Vortex- Forward Flight- Blade Element

Analysis- Momentum Theory- Radial Inflow Equation- Ideal TwistEffects of Swirl Velocity-Circulation Theory of Lift- Prandtl's Tip
Loss Function.

Blade Design and Figure of Merit-Compressibility Correction To

Rotor Performance- Types of Rotors- Flapping Hinge- Lead Lag
Hinge-Flapping Angle.

15

15

SECOND INTERNAL EXAM

Helicopter Performance-Hovering and Axial Climb-Forward Flight

Performance- Reverse Flow.

20

VI

Performance Analysis-Stability and Control- Longitudinal and

Lateral Dynamics- Flying Qualities.

20

END SEMESTER EXAM

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

62

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course No.
01EE7111

Course Name
Robust Control

L-T-P

Credits

3-0-0

Year of Introduction
2015

Course Objectives
1.
2.
3.
4.
5.

To equip students with basic knowledge of robust control of linear dynamic systems
To identify sources of uncertainties and also able to model the different uncertainties
To analyze the sensitivity analysis of feedback control systems
To check robust stability and robust performance using different approaches
To equip the students to design H- infinity control problems

Syllabus
Modelling of parametric Uncertain systems; Definition of robust control; classification of
uncertainties; shaping the loop gain; Modelling systems with parameter uncertainty; Sensitivity
Analysis; Single degree of freedom design structure for SISO and MIMO systems; design of SISO
feedback systems for disturbance rejection; design of SISO feedback systems for noise rejection,
unmodelled dynamics, combining uncertainties for the design of scalar feedback systems;
Boundary crossing theorem; Gamma stability; Schur stability test; Hurwitz stability test, Wellposedness; internal stability; co-prime factorization of plant, co-prime factorization of controller;
Robust stability and performance in the H - infinity context; small gain theorem; Stability
margins; robust stabilizing controllers; Kharitonov approach for stability; preliminary theorems;
LQG methodology; separation principle; Algebraic Riccati Equation; solution of LQG problem;
H-infinity optimization techniques; design of H-infinity control problem and solution; selection
of weighting functions; Basic concepts of H - infinity and synthesis controllers.

Expected Outcome
Upon successful completion of this course, students will be able to:

1.
2.
3.

Identify different uncertainties and to model the uncertainties

Apply different approaches for analysing robust stability and robust performance
Design robust controllers for physical systems and compare with other controllers
References

1.
2.
3.
4.
5.
6.

S P Bhattacharya, L H Keel, H Chapellat Robust Control: The Parametric Approach,

Prentice-Hall, 1995
P C Chandrasekharan, Robust Control of Linear Dynamical Systems, Academic Press,
1996
Michael Green, David J N Limebeer, Linear Robust Control, Prentice-Hall, 1995
Kemin Zhou, Essentials of Robust Control, Prentice-Hall, 1998
Sigurd Skogestad and Ian Postewaite, Muti-variable Feedback Design (Second Edition),
John Wiley, 2005
Pierre R. Belanger, Control Engineering : A modern Approach, Saunders College
Publishing, 1995

COURSE PLAN

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

63

II

Modelling of parametric Uncertain systems: Definition of robust

control-classification of robust control-elements of robust control
theory-modelling design objectives and specifications classification of
uncertainties- additive and multiplicative perturbations plant controller configuration- shaping the loop gain. Modeling systems with
parameter uncertainty- general concepts.
Sensitivity Analysis: Single degree of freedom design structure for
SISO and MIMO systems- design of SISO feedback systems for
disturbance rejection - design of SISO feedback systems for noise
rejection - design of SISO feedback systems with un-modelled dynamics
combining uncertainties for the design of scalar feedback systems.

% of Marks in
End-Semester
Examination

Contents

Hours Allotted

Module

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

15

15

15

15

20

20

FIRST INTERNAL EXAM

III

IV

Boundary crossing theorem-stability - Gamma stability boundariesGamma stability radius-Schur stability test-Hurwitz stability test, Wellposedness, internal stability, parameterization approach, co-prime
factorization of plant, co-prime factorization of controller - Robust
stability in the - infinity context, robust performance in the Hinfinity context, robust stability and performance under perturbations,
small gain theorem.
Different Stability margins-margins, robust stabilizing controllersstabilizing P controllers-stabilizing PI controllers - stabilizing PID
controllers, Kharitonov approach for stability preliminary theorems
Kharitonov theorem - control design using Kharitonov theorem.
SECOND INTERNAL EXAM

VI

LQG methodology-separation principle-Algebraic Riccati Equationsolution of LQG problem-robustness properties of the LQG solution.
optimization techniques-state space formulation control problem
and solution selection of weighting functions general Control
algorithm - Basic concepts of and synthesis controllers
END SEMESTER EXAM

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

64

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course
No.
01EE7113

Course Name
Advanced Instrumentation

L-T-P

Credits

Year of Introduction

3-0-0

2015

Course Objectives
To impart principles of different measurement systems and methods of modern
instrumentation.

Syllabus
Generalized performance characteristics of instruments, General concept of transfer function,
Dynamic response and frequency response studies, Response of a general form of instrument,
Plant level automation, Petrinet models, Sensors, Virtual instrumentation, VI programming
techniques.

Expected Outcome
Upon successful completion of this course, students will be able to:
1 By the end of the course the student will be able to identify the performance of different
measurement systems and apply it for different control systems.
2 Students will also get a good idea of the virtual instrumentation which is an emerging
technology.

References
1. B. D. Doeblin, 'Measurement systems -Application and Design, McGraw Hill New
York.
2. John P. Bentley, 'Principles of Measurement System, Pearson Education.
3. J. W. Dally, W. F. Reley and K. G. Mc Connel, 'Instrumentation for Engineering
measurements 2/e, John Wiley & sons Inc, New York, 1993.
4. Curtis D. Johnson, Process Control Instrumentation Technology, Prentice Hall of India
Private Limited, New Delhi.
5. Dale E. Soberg, Thomson F Edgar, Process Dynamics and Control, 2/e, Wiley.
6. K. B. Klaasen,
'Electronic
Measurement. And
Instrumentation', Cambridge
University Press.
7. Waltenegus Dargie & Christian Poella Bauer, Fundamentals of Wireless Sensor
networks: Wiley Series.
8. Jun Zheng & Abbas Jamalipour, Wireless sensor Networks, A Networking perspective,
Wiley.

COURSE PLAN

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

65

II

Generalized performance characteristics of instruments - Static

characteristics, static calibration, memory, precision and bias, dynamic
characteristics, development of mathematical model of various
measurement systems. Classification of instruments based on their
order.
General concept of transfer function (with special reference to
measuring systems) Dynamic response and frequency response studies
of zero order, first order and second order instruments. Response of a
general form of instrument to a periodic input. Response of a general
form of instrument to a transient input. Requirement of instrument
transfer function to ensure accurate measurement.

% of Marks in
End-Semester
Examination

Contents

Hours Allotted

Module

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

15

15

15

15

20

20

FIRST INTERNAL EXAM

III

IV

Plant level automation- process and instrumentation diagramsPerformance modeling role of performance modeling- performance
measures.
Petrinet models- introduction to petrinets - basic definitions and
analytical techniques, Smart Sensors, Wireless sensors and Wireless
Sensor network protocol
SECOND INTERNAL EXAM

VI

Virtual instrumentation Definition, flexibility Block diagram and

architecture of virtual instruments Virtual instruments versus
traditional instruments
Review of software in virtual instrumentation - VI programming
techniques, sub VI, loops and charts, arrays, clusters and graphs, case
and sequence structures, formula nodes, string and file input / output
END SEMESTER EXAM

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

66

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course
No.

Course Name

L-T-P

Credits

Year of Introduction

01EE7115

System Identification &

Parameter Estimation

3-0-0

2015

Course Objectives
1. To design suitable performance measure to meet the specification requirements.
2. To analyse the physical system and design the structure of system model by optimizing
the suitable performance criteria by satisfying the constraints over the system
parameter.
3. To apply the design algorithms to various physical systems with unknown system
parameters.
4. Provides a solid foundation on modelling and analysis of system with stochastic
parameter.

Syllabus
Principles of Modelling and Transfer function identification; Properties of estimates; validation
of models; impulse Response. Step Response; Frequency response; State Space Models;
Distributed parameter models; model structures; multivariable systems; Transfer function from
frequency response. Fourier Analysis and Spectral analysis; Correlation Identification;
Parameter Estimation Methods; Guiding principles behind parameter estimation methods;
Minimizing prediction errors; Instrumental variable method; consistency and identifiability;
Recursive methods RLS Algorithm, Recursive IV Method; Recursive Prediction Error Method,
recursive pseudo-linear regressions; Experiment Design and Choice of Identification Criterion;
Optimal Input design; Persistently exciting condition; Optimal input design for higher order
black box models; Choice of sampling interval and pre-sampling filters; Choices of
Identification criterion; Choice of norm; variance; optimal instruments.

Expected Outcome
Upon successful completion of this course, students will be able to:
1. Identify suitable estimation algorithm for implementation.
2. Formulate and design suitable structure of system model.
3. Apply iterative estimation algorithms to model various physical systems.
4. Implement optimal control algorithms to track the response of the system with
unknown system parameters.

References
1. Lennart Ljung, System Identification Theory for the User, Prentice Hall Information
Systems Science Series, 1987.
Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

67

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

2.
3.
4.
5.

Sinha N. K., Kuztsas, System Identification and Modeling of Systems, 1983.

Harold W. Sorensen, 'Parameter Estimation, Marcel Dekker Inc, New York, 1980.
Daniel Graupe, Identification of Systems,Van Nostrand.
Tohru Katayama, Subspace Methods for System Identification, Springer-Verlag London
Limited, 2005.

Principles of Modelling and Transfer function identification: System

Identification and Stochastic Modeling- Structure and parameter
estimation. Properties of estimates validation of models-impulse
Response. Step Response - Frequency response- transfer function from
these - disturbances and transfer function.

II

III

IV

V
VI

State Space Models: Distributed parameter models- model structures,

identifiability of model structures - signal spectra - single realization
and ergodicity - multivariable systems - Transfer function from
frequency response. Fourier Analysis and Spectral analysis -Estimating
Disturbance Spectrum - Correlation Identification - Practical
Implementation - Pseudo random binary signals - maximum length
sequences - generation using hardware - random number generation on
digital computer.
FIRST INTERNAL EXAM
Parameter Estimation Methods: Guiding principles behind
estimation methods. Minimizing prediction errors. Linear
and least squares methods. Statistical framework for
estimation. Maximum likelihood estimation. Correlating
errors with past data.

parameter
regression
parameter
prediction

Instrumental variable method, consistency and identifiability, Recursive

methods .RLS Algorithm, Recursive IV Method- Recursive Prediction
Error Method, recursive pseudo-linear regressions. Choice of updating
step.
SECOND INTERNAL EXAM
Experiment Design and Choice of Identification Criterion: Optimal
Input design. Persistently exciting condition. Optimal input design for
higher order black box models.
Choice of sampling interval and pre-sampling filters. Choices of
Identification criterion. Choice of norm, variance, optimal instruments.
END SEMESTER EXAM

Cluster: 1

% of Marks in
End-Semester
Examination

Contents

Hours Allotted

Module

COURSE PLAN

15

15

15

15

20

20

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

68

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course No.

Course Name

L-T-P

Credits

Year of Introduction

01CS7317

Neural Networks

3-0-0

2015

Course Objectives
1. To understand the concepts of neural networks

Syllabus
Introduction to Neural Networks, Biological Neurons and Neural Networks, Basic neural network
models ADALINE networks, Radial Basis Function Networks, Applications of Multi-layer
Perceptrons, Neural networks as associative memories, Hopfield network, BAM, Self Organizing
Maps and Applications of Artificial Neural Networks.

Expected Outcome
1. Upon successful completion of this course, students will be acquainted with neural
networks, various learning algorithms, and applications.

References
1.

Hagan, Demuth and Beale, Neural network design, Vikas Publishing House Pvt.
Ltd., New Delhi , 2002
2. Christopher M. Bishop, Neural Networks for Pattern Recognition, Oxford University
Press, 1995
3. Martin T. Hagan, Howard B. Demuth, Mark Beale, Neural Network Design, Vikas
Thomson Learning, 2003
4. Simon Haykin, Neural Networks, 2nd Edition, Prentice Hall, 1999

Contents

Hours Allotted

Introduction to Neural Networks, Biological Neurons and Neural

Networks, Networks of Artificial Neurons. Single Layer
Perceptron, Learning and Generalization in Single Layer
Perceptron

Cluster: 1

% of Marks in
End-Semester
Examination

Module

COURSE PLAN

15

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

69

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Hebbian Learning, Gradient Descent Learning, learning rates,

Widrow-Hoff Learning , The Generalized Delta Rule, Practical
Considerations.

Basic neural network models ADALINE networks, LMS algorithm

3
II

Learning in
algorithms.

Multi-

Layer

Perceptrons.

Back-Propagation

20
3

FIRST INTERNAL EXAM

III

Radial Basis Function Networks: Fundamentals, Algorithms and

Applications, Learning with Momentum.
Conjugate Gradient Learning, Bias and Variance. Under-Fitting
and Over-Fitting.
Applications of Multi-layer Perceptrons. Basic learning models
Associative Learning.

4
3

IV
Competitive Networks, Winner-take-all
Resonance Theory (ART).

networks,

15

Adaptive

SECOND INTERNAL EXAM

Neural networks as associative memories, Hopfield network, BAM,
Self Organizing Maps: Fundamentals, Algorithms and
Applications.

20

20
Learning Vector Quantization, Optimization problems solving
using neural networks, Stochastic neural networks, Boltzmann
machine.

Applications of Artificial Neural Networks: Application areas like

system identification and control, decision making.

VI

10
Applications in pattern recognition, and sequence recognition.
3
END SEMESTER EXAM

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

70

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course No.

Course Name

L-T-P

Credits

Year of Introduction

01EC7511

Neuro Fuzzy Systems

3-0-0

2015

Course Objectives
1. Explore the basic principles underlying the analysis and synthesis of fuzzy neural
integrated systems with models and case studies.
2. Focuses on the usage of heuristic learning strategies derived from the domain of neural
network theory to support the development of a fuzzy system.
3. Deals with the fundamentals of genetic algorithms for neural-net training and structure
optimization, issues involved and their applications in a variety of different areas of
engineering and science.
Syllabus
Learning processes, Single layer and Multi layerPerceptrons, Principal Component Analysis,
Independent Component Analysis, Stochastic Machines, Neurodynamics, Neuroprogramming,
Fuzzy systems, Neuro-fuzzy systems, Genetic Algorithms, Convergence rate, case studies.
Expected Outcome
1. Provides a framework for unification, construction and development of neuro-fuzzy
systems.
2. Reflects theoretical and practical issues in a balanced way, effective development of
models in any field can be made.
3. Enables to implement and experiment with genetic algorithms on their own for any
problems
References
Simon Haykin, Neural Networks, a comprehensive foundation, 2/e, Pearson Education.
Timothy J Ross, Fuzzy logic with Engineering Applications 2/e, McGraw Hill
John Yen, Reza Langari, Fuzzy Logic-Intelligence, Control and Instrumentation, Pearson
Education, 2002
YegnaNarayana B, Artificial Neural Networks PHI
AhamadM.Ibrahim, Introduction to Applied Fuzzy Electronics, PHI
S.Rajasekharan,G.AVijayalakshmiPai , Neural Networks,Fuzzy Logic and Genetic
Algorithams, PHI .
COURSE PLAN

Module

Contents

Hours Allotted

4.
5.
6.

Introduction to Neuro-Fuzzy systems models of neuron, Neural

network architectures, Learning processes algorithms. Learning

Cluster: 1

% of Marks in
End-Semester
Examination

1.
2.
3.

15

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

71

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

paradigms. Single layer perceptrons, Perceptron Convergence

theorem.

II

Multilayer perceptrons architecture, back-propagation algorithm.

XOR problem. Principles of self organized learning. Principal
Component analysis data representation, dimensionality reduction.
Independent Component analysis.

15

FIRST INTERNAL EXAM

III

IV

VI

Cluster: 1

Stochastic Machines Metropolis algorithm, Simulated annealing,

Gibbs sampling, Boltzmann machine. Neurodynamics Hopfield
models, Cohen-Grossberg theorem, Brain-state-in-a-box model
Fuzzy systems, operations on fuzzy sets, fuzzy relations, Fuzzy
tolerance and equivalence relations, Fuzzificationand Defuzzification
centroid method
SECOND INTERNAL EXAM
Classical and fuzzy predicate logic, Fuzzy rule-based systems, fuzzy
pattern recognition, Fuzzy control systems, Case study inverted
pendulum
Genetic Algorithms and Fuzzy Logic, Basics, Design issues,
Improving the Convergence rate, Genetic Algorithm methods, Case
studies
END SEMESTER EXAM

15

15

20

20

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

72

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course No.

Course Name

L-T-P

Credits

Year of Introduction

01ME7117

Mechatronics System
Design

3-0-0

2015

Course Objectives
To equip students with state of the art techniques and skills in the fields of automation and
robotics. There is a huge demand from industries for qualified professionals in the areas of
automation. MEMS is an emerging area where future developments are focused. Till now
in India there was no manpower shortage But in future we will lack youth employees to
take tedious physical jobs. The only answer is automation. So it is the need of the hour to
make students aware of the latest trends in sensors, actuators, pneumatic and hydraulic
systems, PLC etc.
Syllabus
Introduction to mechatronics sensors and transducers
Automation system design
Modeling and simulation of mechatronics systems
Microprocessors & microcontrollers
Real time interfacing
Robotic vision and case studies
Expected Outcome
On successful completion of this course a student will be able to design and develop
complicated pneumatic and hydraulic circuits to automate various equipments. They will
be capable to apply their skills to develop new automatic machines. They will get a
thorough knowledge about latest cutting edge technologies like MEMS, Robotics etc. They
will get knowledge about microprocessors and microcontrollers which are an essential part
of modern automatic devices . They will be capable to interface various types of sensors
and actuators with computers by using data acquisition cards.
Reference books :
1. W. Bolton, Mechatronics: Electronic Control Systems in Mechanical and Electrical
Engineering, Person Education Limited, New Delhi 2007.
2. HMT, Mechatronics, Tata McGraw-Hill Publishing Company Ltd., New Delhi 2004.
3. K.P. Ramachandran, G.K. Vijayaraghavan, M.S. Balasundaram. Mechatronics: Integrated
Mechanical Electronic Systems. Wiley India Pvt. Ltd., New Delhi 2008.
4. David G. Aldatore, Michael B. Histand, Introduction to Mechatronics and Measurement
Systems, McGraw-Hill Inc., USA 2003.
5. Vijay K. Varadan, K. J. Vinoy, S. Gopalakrishnan, Smart Material Systems and MEMS:
Design and Development Methodologies, John Wiley & Sons Ltd., England 2006.
6. Saeed B. Niku, Introduction to Robotics: Analysis, Systems, Applications, Person Education,
Inc., New Delhi 2006.
Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

73

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

7. Gordon M. Mair, Industrial Robotics, Prentice Hall International, UK 1998.

8. Devadas Shetty and Richard A Kolk, Mechatronics System Design, Cengage Learning India
Pvt Ltd, Delhi, 2012.

II

Contents

Characteristics. Displacement and position sensors.

Resolvers and synchros. Velocity and motion sensors..
Principle and types of force, temperature, vibration and
acoustic emission sensors.
ACTUATORS: Pneumatic, hydraulic and mechanical
actuation systems used for Mechatronics devices
AUTOMATION SYSTEM DESIGN: Design of fluid
power circuits cascade, KV-map and step counter
method. PLC ladder logic diagram,
Programming of PLC, fringe condition modules, sizing
of components in pneumatic and hydraulic systems.
Analysis of hydraulic circuits.

% of Marks in
End-Semester
Examination

Hours Allotted

Module

COURSE PLAN

3
2

15

3
15
3

FIRST INTERNAL EXAM

III

IV

Modeling And Simulation: Definition, key elements,

mechatronics approach for design process, modeling of
engineering systems, modeling system with spring,
damper and mass.
Modeling chamber filled with fluid, modeling
pneumatic actuator. Transfer functions, frequency
response of systems, bode plot. software and hardware
in loop simulation.
Microprocessors & Microcontrollers: Microprocessors introduction, 8085 architecture, types of memory,
machine cycles and timing diagram, addressing modes,
instruction set, development of simple programs.
8051 microcontroller architecture, registers, addressing
modes, interrupts, port structure, timer blocks and
applications- stepper motor speed control.

4
15
3

4
15
2

SECOND INTERNAL EXAM

V
Cluster: 1

Real Time Interfacing: Introduction to data acquisition

and control systems, overview of I/O process.

20

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

74

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Virtual instrumentation, interfacing of various sensors

and actuators with PC, Condition monitoring, SCADA
systems.
ROBOTIC VISION :Image acquisition: Vidicom and
charge coupled device (CCD) cameras. Image
processing techniques: histogram analysis, thresholding
and connectivity method.
Case Studies Of Mechatronics Systems: Pick and place
robot, Automatic Bottle filling unit, Automobile engine
management system.

VI

4
20
4

END SEMESTER EXAM

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

75

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course
No.
01EE7213

Course Name
Guidance and Control Space
Vehicles and Satellites

L-T-P

Credits

Year of Introduction

3-0-0

2015

Course Objectives
To impart principles and various methods of guidance and control of space vehicles and
satellites.

Syllabus
Introduction to Astrodynamics, Fundamentals of Orbital Mechanics, Orbital Parameters, Types of
Orbits, Orbital Transfer andRendezvous, Orbital Plane Changes. Space Flight, Space
VehicleTrajectories, Launch Vehicle Guidance. Re-Entry of Space Vehicle, Re-Entry Dynamics,
Attitude Control of Satellites, Stabilization of Satellites.

Expected Outcome
Upon successful completion of this course, students will have fundamental
understanding of orbital mechanics and guidance and control aspects of satellites
and space vehicles.
References
1. Roger R. Bate, 'Fundamentals of Astrodynamics, Dover Publications Inc., New
York, 1971.
2. Francis Joseph Hale, 'Introduction to Space Flight, Prentice-Hall Inc., 1994.
3. Marshall H. Kaplan , Modern Spacecrafts Dynamics and Control , John Wiley &
Sons.
4. Edward V. B. Stearns, Navigation and Guidance in Space, Prentice-Hall Inc.,
Englewood Cliffs, New Jersey.
5. William E. Wiesel, Space Flight Dynamics, McGraw-Hill Book Company, Third
Edition, 2010.

Cluster: 1

Contents

% of Marks in
End-Semester
Examination

Hours Allotted

Module

COURSE PLAN

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

76

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Introduction to Astrodynamics-Fundamentals of Orbital MechanicsOrbital Parameters- Nbody Problem- Two-body Problem.

II

Different Types of Orbits-Circular, Elliptical, Parabolic, Hyperbolic and

Rectilinear Orbits, Energy of the Orbit, Orbital Transfer and
Rendezvous-LEO, SSPO, GSO, GTO Orbits

15

15

FIRST INTERNAL EXAM

III

IV

Orbital Transfers-Impulse Transfer between Circular Orbits, Hofmann

Transfer, Other Coplanar and Non-coplanar Transfers-Orbital Plane
Changes.

10

15

Space Flight, Space Vehicle Trajectories, Launch Vehicle GuidanceImplicit and Explicit Guidance-Open loop and Closed loop GuidanceFE guidance- E guidance-VG guidance-Q guidance-Delta guidance.

15

Re-Entry of Space Vehicle, Re-Entry Dynamics, Ballistic Re-Entry, Skip

Re-Entry, Double-Dip Re-Entry, Aerobraking, Lifting Body Re-Entry,
Entry Corridor, Equilibrium Glide,Thermal and Structural Constraints.

20

Attitude Control of Satellites, Reaction Wheel, Momentum Wheel,

Thrusters, Stabilization of Satellites, Spin Stabilization, Gravity Gradient
Stabilisation, Yo-Yo Mechanism, Control Moment Gyros.

SECOND INTERNAL EXAM

VI

20

END SEMESTER EXAM

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

77

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course No.
01EE7117

Course Name
Estimation
Theory

L-T-P

Credits

3-0-0

Year of Introduction
2015

Course Objectives
To train the students to implement state feedback controller by estimating the state of the
system.
1. Able to apply the estimation algorithms to estimate unknown quantities from the
available measured signals.
2. Provides a solid foundation on Matrix algebra, Probability and Statistics

Course Content:
Elements of Probability and Random Process, Continuous Probability, Expectation, Variance,
Covariance, Random Variables, Expectation, Covariance, Least Square Estimation, Wiener
filtering, Kalman Filter, Sequential Kalman Filtering, Continuous Time Kalman Filter, Steady
State Filter, Optimal Smoothing.

Expected Outcome
Upon successful completion of this course, students will be able to:
1.
2.
3.

Select suitable estimation for implementation.

Apply estimation algorithms to estimate signals and parameters of the system.
Implement optimal estimation algorithms to estimate signals from noisy data for linear
as well as nonlinear systems.

References
1. Dan Simon, Optimal State Estimation Kalman, H infinity and Nonlinear Approaches,
Wiley Inter-science, John Wiley & Sons, Inc., Publication, 2006.
2. Athanasios Papoulis and S. Unnikrishna Pillai, Probability, Random Variables and
Stochastic Process, Tata McGraw-Hill Publishing Company Limited, New Delhi, India,
2002.
3. Sheldon M. Ross, Introduction to Probability and Statistics for Engineers and
Scientists, 3/e, Academic Press, Delhi, India, 2005.
4. Jerry M. Mendel, Lessons in Estimation Theory for Signal Processing, Communications
and Control, Prentice Hall PTR, Englewood Cliffs, New Jersey, USA, 1995.
5. Paul Zarchan and Howard Musof, Fundamentals of Kalman Filtering: A Practical
Approach, AIAA Inc. Alexander Bell Drive, Reston, Vergenia, 2000.
6. Robert Grover Brown and Patrick Y. C. Hwang, Introduction to Random Signals and
Applied Kalman Filtering, 3/e, John Wiley & Sons, Inc., Publication, Canada, 1997.
7. Alexander D. Poularikas and Zayed M. Ramadan, Adaptive Filtering Primer with
MATLAB, CRC Press, Taylor & Francis, Boca Raton, London, 2006.
Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

78

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Module

Contents

Hours Allotted

% of Marks in
End-Semester
Examination

COURSE PLAN

Elements of Probability and Random Process: Sample Spaces and

Events - Axioms of Probability - Conditional Probability - Continuous
Probability - Probability Functions - Bayes' Formula- Random
Variables.

15

II

Expectation - Variance - Covariance - White and Colored NoisesCorrelated Noise. Least Square Estimation: Estimation of Constant.
Weighted Least Square Estimation, Recursive Least Square Estimation.

15

15

15

20

20

FIRST INTERNAL EXAM

III

IV

Wiener filtering - Propagation of States and Co-Variance - Continuous

Time and Discrete Time Systems. Kalman Filter: Discrete-time Kalman
Filter- Properties- Propagation of Covariance.
Sequential Kalman Filtering - Information Filtering Square root
Filtering - Correlated Process and Measurement Noise - Colored
Process and Measurement Noise- Steady State Filtering.
SECOND INTERNAL EXAM

VI

Continuous Time Kalman Filter: Discrete time and Continuous time

White Noise Solution through Riccati Equation Generalization of
Continuous -time Filter Steady State Filter.
Optimal Smoothing: Fixed-point Smoothing- Fixed-lag Smoothing
Fixed-interval Smoothing. Nonlinear Kalman Filter: Linearized Kalman
Filter Extended Kalman Filter Higher Order Approaches
Parameter Estimation.
END SEMESTER EXAM

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

79

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course No.
01EE7119

Course Name
Multivariable Control
Theory

L-T-P

Credits

Year of Introduction

3-0-0

2015

Course Objectives
1. To analyse and synthesise linear multivariable robust control systems.
2. To design multivariable controllers for robust performance.
Course Content:
Introduction to multivariable control, Transfer function matrices for Multi Input Multi Output
(MIMO) systems;Representations of MIMO systems, MIMO Nyquist stability criterion,
multivariable poles and zeros, pole polynomial, zero polynomial,Introduction to MIMO robustness;
Limitations on performance in MIMO systems; MIMO Input-output controllability; General control
configuration with uncertainty for MIMO systems; Definitions of robust stability and robust
performance for MIMO systems; Robust stability with structured and unstructured uncertainty for
MIMO systems; Robustness analysis including the structured singular value; Multivariable stability
margin and the structured singular value , the performance robustness theorem; MIMO controller
design; Trade-offs in MIMO feedback design.

Expected Outcome
Upon successful completion of this course, students will be able to:
1. Analyse and synthesise linear multivariable robust control systems
2. Design multivariable controllers

References
1. Multivariable Feedback Control - Analysis and Design, 2nd ed; Sigurd Skogestad and Ian
Postlethwaite Wiley, 2005
2. T. Glad and L. Ljung, Control Theory: Multivariable & Nonlinear Methods, Taylor & Francis,
2000.
3. C-T Chen, Linear System Theory and Design, 3rd edition; Oxford University Press, 1998;

% of Marks in
End-Semester
Examination

Introduction to multivariable control, Transfer function matrices for

Multi Input Multi Output (MIMO) systems; Representations of MIMO
systems, MIMO Nyquist stability criterion, multivariable poles and
zeros, pole polynomial, zero polynomial.

15

Module

Contents

Hours Allotted

COURSE PLAN

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

80

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Introduction to MIMO robustness; Limitations on performance in

MIMO systems; MIMO Input-output controllability; General control
configuration with uncertainty for MIMO systems.

II

15

15

15

20

20

FIRST INTERNAL EXAM

III

IV

Definitions of robust stability and robust performance for MIMO

systems; Robust stability with different structured and unstructured
uncertainty for MIMO systems.
Robustness analysis including the structured singular value;
Multivariable stability margin and the structured singular value , the
performance robustness theorem.
SECOND INTERNAL EXAM
MIMO controller design; Trade-offs in MIMO feedback design in
frequency domain, design examples.

V
VI

Relative Gain Array and

Decentralised controllers

properties,

Decoupling

controllers,

END SEMESTER EXAM

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

81

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course No. Course Name

01EE7315

L-T-P

Hybrid Electric Vehicles

3-0-0

Credits

Year of Introduction

2015

Course Objectives:
To present a comprehensive overview of Electric and Hybrid Electric Vehicle
Syllabus
Introduction to Hybrid Electric Vehicles, Conventional Vehicles, Hybrid Electric Drivetrains, Electric Propulsion unit, Configuration and control of DC Motor drives,
Induction Motor drives, Permanent Magnet Motor drives, switched reluctance motor,
Energy Storage Requirements in Hybrid and Electric Vehicles, Sizing the drive system,
Design of a Hybrid Electric Vehicle , Energy Management Strategies.

1.
2.
3.
4.

Expected Outcome:
Upon successful completion of this course, students will be able to
Choose a suitable drive scheme for developing an electric hybrid vehicle depending
on resources
Design and develop basic schemes of electric vehicles and hybrid electric vehicles.
Choose proper energy storage systems for vehicle applications
Identify various communication protocols and technologies used in vehicle
networks.

References
1. Iqbal Hussein, Electric and Hybrid Vehicles: Design Fundamentals, CRC Press, 2003

Hours

Module

COURSE PLAN
Course description

Cluster: 1

Introduction to Hybrid Electric Vehicles: History of hybrid

and electric vehicles, social and environmental importance
of hybrid and electric vehicles, impact of modern drivetrains on energy supplies.
Conventional Vehicles: Basics of vehicle performance,
vehicle power source characterization, transmission

End semester
exam
% marks

2 Mehrdad Ehsani, Yimi Gao, Sebastian E. Gay, Ali Emadi, Modern Electric, Hybrid
Electric and Fuel Cell Vehicles: Fundamentals, Theory and Design, CRC Press,
2004.
3 James Larminie, John Lowry, Electric Vehicle Technology Explained, Wiley, 2003.

15%

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

82

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

characteristics, mathematical models to describe vehicle

performance.

Hybrid Electric Drive-trains: Basic concept of hybrid

traction, introduction to various hybrid drive-train
topologies, power flow control in hybrid drive-train
topologies, fuel efficiency analysis.
Electric Drive-trains: Basic concept of electric traction,
introduction to various electric drive-train topologies,
power flow control in electric drive-train topologies, fuel
efficiency analysis.

15%

15%

15%

20%

20%

First Internal Exam

Electric Propulsion unit: Introduction to electric

components used in hybrid and electric vehicles,
Configuration and control of DC Motor drives,
Configuration and control of Induction Motor drives,
configuration and control of Permanent Magnet Motor
drives, Configuration and control of Switch Reluctance
Motor drives, drive system efficiency
Energy Storage: Introduction to Energy Storage
Requirements in Hybrid and Electric Vehicles, Battery
based energy storage and its analysis, Fuel Cell based
energy storage and its analysis, Super Capacitor based
energy storage and its analysis, Flywheel based energy
storage and its analysis, Hybridization of different energy
storage devices.
Second Internal Exam

Sizing the drive system: Matching the electric machine and

the internal combustion engine (ICE), Sizing the propulsion
motor, sizing the power electronics, selecting the energy
storage technology,
Case Studies: Design of a Hybrid Electric Vehicle (HEV),
Design of a Battery Electric Vehicle (BEV).
Communications, supporting subsystems: In vehicle
networks- CAN,
Energy Management Strategies: Introduction to energy
management strategies used in hybrid and electric vehicles,
classification of different energy management strategies,
comparison of different energy management strategies,
implementation issues of energy management strategies.
End Semester Exam

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

83

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course No.
01EC7121

Course Name

L-T-P

Credits

Year of Introduction

Wireless Sensors and Systems

3-0-0

2015

Course Objectives
1. Introduction to the concepts of wireless sensors and associated circuits and networking .
2. To enable students to appreciate various applications of wireless sensor networks
3. To impart design principles of wireless networks
Syllabus
Wireless sensor networks and architecture, Network scenarios and Optimization goals, Gateway
concept, design considerations and protocols, Routing, Topology considerations and Programming
challenges

Expected outcome
1. By the end of the course students will be able to understand analyze ,design and
optimize
2. Wireless sensors and networks.

References
1. Holger Karl & Andreas Willig, Protocols And Architectures for Wireless Sensor Networks"
, John Wiley, 2005.
2. Feng Zhao & Leonidas J. Guibas, Wireless Sensor Networks- An Information Processing
Approach", Elsevier, 2007
3. KazemSohraby, Daniel Minoli, &TaiebZnati, Wireless Sensor Networks - Technology,
Protocols, And Applications, John Wiley, 2007.
4. Anna Hac, Wireless Sensor Network Designs, John Wiley, 2003

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

84

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Contents

Challenges for Wireless Sensor Networks, Enabling Technologies For

Wireless Sensor Networks. Single-Node Architecture - Hardware
Components, Energy Consumption of Sensor

II

Operating Systems and Execution Environments, Network Architecture

- Sensor Network Scenarios, Optimization Goals and Figures of Merit,
Gateway Concepts

% of Marks in
End-Semester
Examination

Hours Allotted

Module

COURSE PLAN

15

15

FIRST INTERNAL EXAM

III

Physical Layer and Transceiver Design Considerations, MAC Protocols

for Wireless Sensor Networks, Low Duty Cycle Protocols And Wakeup
Concepts - S-MAC , The Mediation Device Protocol,

IV

Wakeup Radio Concepts, Address and Name Management, Assignment

of MAC Addresses, Routing Protocols- Energy-Efficient Routing,

V
VI

SECOND INTERNAL EXAM

Topology Control , Clustering, Time Synchronization, Localization and
Positioning

Sensor Tasking and Control Sensor Node Hardware Berkeley Motes,

Programming Challenges

15

15

20

20

END SEMESTER EXAM

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

85

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course No.
01EC7515

Course Name

L-T-P

Credits

Year of Introduction

RF MEMS

3-0-0

2015

Course Objectives
1. To enhance the knowledge of Microelectromchanical systems
2. To impart the knowledge of RF MEMS passive,active devices
3. To develop the skills to design and model and analyse systems like RF MEMS
switches
Syllabus
Introduction to RF MEMS- application, fabrication.Introduction to Microfabrication Technique. RF
MEMS switches and applications. Introduction to MEMS switch design and its analysis. Different
types of inductors, capacitors and resonators. Introduction to Micromachined antennas and RF
NEMS

Expected Outcome
1. Understand the processes in MEMS fabrication
2. Understand RF MEMS design,modelling issues
3. Understand the working of different types of RF MEMS devices
References
1. RF MEMS: Theory, Design, and Technology, Gabriel M. Rebeiz, Wiley, 2003
2. RF MEMS Circuit Design for Wireless Applications, Hector J. De Los Santos, Artech
House, 2002
3. RF MEMS and Their Applications, Vijay Varadan, K. J. Vinoy, K. A. Jose, Wiley, 2003.

Contents

Introduction to RF MEMS, application in wireless communications;

Overview of RF MEMS fabrication, design and testing.

Cluster: 1

Hours Allotted
% of Marks in
End-Semester
Examination

Module

COURSE PLAN

15

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

86

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

II

Introduction to Micro fabrication Techniques- Materials properties, Bulk

and surface micromachining, Wet and dry etching, Thin-film
depositions; Actuation Mechanisms in MEMS- Piezoelectric, 8
Electrostatic, Thermal, Magnetic

15

FIRST INTERNAL EXAM

III

RF MEMS switches and applications, Integration and biasing issues for

RF switches.

IV

MEMS switch design, modelling and analysis- Electromechanical finite

6
element analysis, RF design.

VI

SECOND INTERNAL EXAM

Inductors and capacitors - micro machined inductors, variable
inductors, polymer based inductors, gap-tuning and area tuning 7
capacitors, dielectric tunable capacitors
Resonators
applications
in
oscillators
and
filters.
8
Micromachinedantennas.RF NEMS-overview

15
15

20

20

END SEMESTER EXAM

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

87

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course No.
01EE7291

Course Name
Seminar II

L-T-P

Credits

0-0-2

Year of Introduction
2015

Course Objectives
To make students
1. Identify the current topics in the specific stream.
2. Collect the recent publications related to the identified topics.
3. Do a detailed study of a selected topic based on current journals, published papers
and books.
4. Present a seminar on the selected topic on which a detailed study has been done.
5. Improve the writing and presentation skills.
Approach
Students shall make a presentation for 20-25 minutes based on the detailed study of
the topic and submit a report based on the study.
Expected Outcome

Upon successful completion of the seminar, the student should be able to

1. Get good exposure in the current topics in the specific stream.
2. Improve the writing and presentation skills.
3. Explore domains of interest so as to pursue the course project.

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

88

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course No.
01EE7293

Course Name
Project (Phase 1)

L-T-P

Credits

0-0-12

Year of Introduction
2015

Course Objectives
To make students
1. Do an original and independent study on the area of specialization.
2. Explore in depth a subject of his/her own choice.
3. Start the preliminary background studies towards the project by conducting
literature survey in the relevant field.
4. Broadly identify the area of the project work, familiarize with the tools required for
the design and analysis of the project.
5. Plan the experimental platform, if any, required for project work.
Approach
The student has to present two seminars and submit an interim Project report. The
first seminar would highlight the topic, objectives, methodology and expected
results. The first seminar shall be conducted in the first half of this semester. The
second seminar is the presentation of the interim project report of the work
completed and scope of the work which has to be accomplished in the fourth
semester.
Expected Outcome

Upon successful completion of the project phase 1, the student should be able to
1. Identify the topic, objectives and methodology to carry out the project.
2. Finalize the project plan for their course project.

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

89

Kerala Technological University

Master of Technology Curriculum, Syllabus & Course Plan

Course No.
01EE7294

Course Name
Project (Phase 2)

L-T-P

Credits

0-0-23

12

Year of Introduction
2015

Course Objectives
To continue and complete the project work identified in project phase 1.
Approach
There shall be two seminars (a mid term evaluation on the progress of the work and
pre submission seminar to assess the quality and quantum of the work). At least one
technical paper has to be prepared for possible publication in journals / conferences
based on their project work.
Expected Outcome

Upon successful completion of the project phase II, the student should be able to
1. Get a good exposure to a domain of interest.
2. Get a good domain and experience to pursue future research activities.

Cluster: 1

Branch: Electrical and Electronics EngineeringStream: Guidance and Navigational Control

90