|
|
|||||||||||||||||
Course Catalog 2014-2015
ASE-5056 Optimal and Robust Control with Matlab, 8 cr |
Additional information
Suitable for postgraduate studies
Person responsible
Terho Jussila, Risto Ritala, Robert Piche
Lessons
| Study type | P1 | P2 | P3 | P4 | Summer | Implementations | Lecture times and places |
|
|
|
|
|
|
|
|
|
Requirements
Written exam (or a set of written sub-exams) plus a PC Exam plus 6 PC sessions (each of 120 minutes) plus a practical LAB of 2-3 hours.
Completion parts must belong to the same implementation
Learning Outcomes
After the course the student should be able to use Matlab, Simulink, Control System Toolbox and Symbolic Toolbox to design a H2/LQ (Linear Quadratic) and LQG (LQ Gaussian) control law for a LTI (Linear Time-Invariant) state space system, analyze robust stability of the overall system in both classical and modern ways; can propose implementations; can use Matlab and the toolboxes for both time domain modeling, simulation and various other analyses of various MIMO LTI systems, including nominal and robustness analyses; knows several quadratic performance indices and their properties; understands special features and challenges of MIMO control design; can use both state space and transfer function models in an appropriate way and make conversions between model types; can create simple Matlab tools when Toolboxes are not providing suitable ones.
Content
| Content | Core content | Complementary knowledge | Specialist knowledge |
| 1. | Time domain simulation of various model types with Simulink, Control System Toolbox and tools of the core Matlab. | Both DT (Discrete-Time) and CT (Continuos-Time) studies are available so that one of them is primary, the other is secondary. The decision will be made for every implementation separately. | S functions of Simulink. Creating and masking sub-systems. Use of ode45 and dde23. |
| 2. | Matlab and Control System Toolbox for effective modelling: equilibriums, linearization, least squares, model reduction, model type conversions, building models from sub-system models. | Both DT (Discrete-Time) and CT (Continuos-Time) studies are available so that one of them is primary, the other is secondary. The decision will be made for every implementation separately. | Solvers and optimizers. |
| 3. | Basics of Linear Time Invariant models of MIMO systems: example responses, stability, controllability, observability, transfer function matrix, frequency response. | Both DT (Discrete-Time) and CT (Continuos-Time) studies are available so that one of them is primary, the other is secondary. The decision will be made for every implementation separately. | |
| 4. | Quadratic performance indices and signal norms, even for time-delay systems and including time-weighting. Linear Quadratic deterministic state-feedback control and quadratic optimal parametric control. | Both DT (Discrete-Time) and CT (Continuos-Time) studies are available so that one of them is primary, the other is secondary. The decision will be made for every implementation separately. | |
| 5. | Classical and modern studies of robust stability: stability margins for MIMO systems and studies of unstructured uncertainty. | Both DT (Discrete-Time) and CT (Continuos-Time) studies are available so that one of them is primary, the other is secondary. The decision will be made for every implementation separately. | |
| 6. | Vector random processess in time and frequency domain. Identification, spectral factorization. Mean and variance calculus, variance minimization. Stochastic regulator, Kalman filtering, LQG control. | Both DT (Discrete-Time) and CT (Continuos-Time) studies are available so that one of them is primary, the other is secondary. The decision will be made for every implementation separately. | |
| 7. | Improving reliability of the computations. |
Instructions for students on how to achieve the learning outcomes
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 | Nomen Nescio | The main course book will be specified separately for each particular implementation. | Yes | English | |||
| Summary of lectures | Lecturer | The lecture notes/slides will be specified separately for each particular implementation. | Yes | English |
Prerequisites
| Course | Mandatory/Advisable | Description |
| ASE-1130 Automaatio | Mandatory | 1 |
| ASE-1251 Järjestelmien ohjaus | Mandatory | 1 |
| ASE-1257 Introduction to Control | Mandatory | 1 |
1 . One of the ASE courses 1130, 1251, 1257 is necessary if the student is not mastering the content of such a course otherwise.
Prerequisite relations (Requires logging in to POP)
Correspondence of content
| Course | Corresponds course | Description |
|
|
|
|
|
|
|
|
|
|
|
More precise information per implementation
| Implementation | Description | Methods of instruction | Implementation |
| Compulsory parts: examination, 6 PC sessions of 90 minutes each, a practical LAB session of 120 to 180 minutes. | Lectures Excercises Practical works Laboratory assignments Other contact teaching |
Contact teaching: 45 % Distance learning: 0 % Self-directed learning: 55 % |