Course content

The course contains the following topics:

Linear systems theory and classical control theory (review).

Modelling, analysis, and control design in state space.

Quadratic optimal control and -estimation (Kalman filter).

Analysis and control design of digital systems.

Advanced methods for optimal and robust control.

System identification.

Model predictive control (MPC).

Learning outcome

Læringsutbytte - Kunnskap:

explain strengths and weaknesses of using linearised models.

describe and compare classical and modern control engineering approaches.

Læringsutbytte - Ferdigheter:

analyse stability and performance of linear, time-invariant, continuous-time, and digital systems.

determine controllability and observability and design state feedback controllers and -estimators based on pole placement or qudratic optimisation for continuous-time and digital systems.

use advanced methods for optimal and robust control design, for example model predictive control (MPC), H-infinity control, structured singular value synthesis, time-optimal control with pre-shaped inputs, and output-rate weighted linear optimal control

identify and design linear and nonlinear system models using the System Identification Toolbox for Matlab.

Læringsutbytte - Kompetanse:

use computers and software tools (Matlab/Simulink) for simulations (modelling, analysis, control, and system identification) and visualisation of the dynamics of systems.

present problems, solutions, and results in a professional and near-scientific manner, both written and orally.

Learning methods and activities

Pedagogiske metoder:

 This course uses the following pedagogical methods:

Workshops consisting of lectures, problemsolving in groups or independently, practical demonstrations, case studies, presentations and discussion, with a focus on simulation, practical applications, and research-based and constructive learning.

Compulsory weekly labs with exercises collected in lab reports for submission.

Compulsory mid-semester test.

The labs and mid-semester test must be passed for admission to the exam. This motivates students to work steadily towards subgoals from day one. Feedback from the labs and the mid-semester test provide an opportunity to adjust course both for the teacher and for the students before it is too late.

Obligatoriske arbeidskrav:

Lab reports documenting the weekly compulsory lab exercises must be submitted and passed for admission to the exam.

A mid-semester test must be passed for admission to the exam.

Compulsory assignments

• Mandatory assignment

Specific conditions

Recommended previous knowledge

This course builds on IR102412 Physics and Chemistry, IE203312 Measurement with Statistics, and IE203612 Control Systems Engineering.