Advanced Control SCEV3006

Forkunnskaper

According to admission requirements.

Læringsmål

To give students insight and knowledge in advanced and optimal control strategies and problems, and to give necessary basis for further studies.

Organisering

Lectures, exercises with the use of PC software.

Innhold

Introduction to Mathematical systems theory: Model formulations, controllability/reachability, stabilizability, detectability, poles and transmission zeros in MIMO systems. MIMO control structures. Controller synthesis: Decoupling, pole placement, optimal control. LQ og LQG control. Relations between optimal and predictive control. Continuous time and discrete time systems. Multivariable control with state observer. Non-linear decoupling, feedback linearization. Linear systems with disturbance. Optimal feed-forward. Optimal tracking systems. Observer-regulator duality. The separation theorem. Optimal control structures with integral action.

Vurderingsformer

An intermediate test weights 30% and a final test weights 70% in the final grade.

Pensum