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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 |
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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:
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 |
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More precise information per implementation
| Implementation | Description | Methods of instruction | Implementation |