Course Catalog 2012-2013
Postgraduate

Basic Pori International Postgraduate Open University

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Course Catalog 2012-2013

ACI-42086 Optimal and Robust Control System Design with Matlab, 7 cr

Additional information

Students with credits from the 1-2 courses of the old courses ACI-21080/ACI-21086 , ACI-42060/ACI-42066 and ACI-42130/42136 may be tailored special arrangements for taking this course.
Suitable for postgraduate studies

Person responsible

Terho Jussila

Lessons

Study type P1 P2 P3 P4 Summer Implementations Lecture times and places
Lectures
Excercises
Laboratory work



 



 
 2 h/week
 3 h/week
 0 h/per
+2 h/week
+3 h/week
+3 h/per



 
ACI-42086 2012-01 Tuesday 14 - 16, SD207
Monday 8 - 9, SD302
Tuesday 14 - 17, SD302

Requirements

Exam, a LAB session of 2 hours, four PC sessions of 2 hours each.
Completion parts must belong to the same implementation

Learning outcomes

After the course the student should be able to use Matlab and its Simulink, Control System Toolbox and Symbolic Toolbox to design a linear estimator based feedback Linear Quadratic Gaussian control law for a stochastic LTI state space system, analyze robust stability of the overall system and propose implementations, all this using reliable computations ; Can use Matlab and its central toolboxes linear models for both time domain modeling, simulation and various other analyses of various MIMO systems, including nominal and robustness analyses of all kind of LTI systems ; Knows performance indices, special features and challenges of MIMO control design, including decoupling control ; Can use both state space and transfer function models and select between them in an apprpropriate way plus move from a model type to another one ; Can create simple Matlab tools when Toolboxes are not providing suitable ones.

Content

Content Core content Complementary knowledge Specialist knowledge
1. Modelling. Introduction to Decoupling Control. Equilibrium. Equilibrium, linearization, state-space models for MIMO systems.      
2. Responses, Stability, Observability, Controllability, Poles, Zeros of state space models. Vector Random Processes. Norms and performance indices. Frequency Response, Principal gains. Modelling for analysis.      
3. State feedback control, state estimation, estimator based control with pole placement and LQ/LQG designs.     
4. Linear Decoupling Control. Robust Stability: unstructured uncertainty, structured uncertainty.      

Evaluation criteria for the course

Usual

Assessment scale:

Numerical evaluation scale (1-5) will be used on the course

Partial passing:

Completion parts must belong to the same implementation

Study material

Type Name Author ISBN URL Edition, availability, ... Examination material Language
Book   Feedback Systems   K. J. Åström & R. M. Murray   978-0-691-13576-2     Parts of Ch 4.1, 4.3, 5-7, 9.5, 11.1 will be referred.      English  
Book   Linear Optimal Control   J. B. Burl   0-201-80868-4     Chapters 1-8, 11 and Appendices.      English  
Summary of lectures   Multivariable and Optimal Control   T. Jussila       Available in Feb 2011 on the home page (link to a pdf file)      Suomi  

Prerequisites

Course Mandatory/Advisable Description
ASE-1230 Systeemitekniikan perusteet 2 Advisable   1
ASE-1250 Järjestelmien ohjaus Advisable    
ASE-1256 Introduction to Control and Automation Advisable    
ASE-1257 Introduction to Control Advisable    

1 . The old course ACI-20010/16 or a similar non-TUT course may also provide sufficient pre-knowledge. Basics of matrices and vectors.

Prerequisite relations (Requires logging in to POP)



Correspondence of content

Course Corresponds course  Description 
ACI-42086 Optimal and Robust Control System Design with Matlab, 7 cr ACI-21086 Control System Design with Matlab, 5 cr +
ACI-42066 Robust Control, 5 cr +
ASE-5056 Optimal and Robust Control with Matlab, 8 cr
 

More precise information per implementation

Implementation Description Methods of instruction Implementation
ACI-42086 2012-01        

Last modified26.01.2012