Description
Objectives
In this course students will learn how to: i) design optimal controllers based on dynamic models described in continuous time and discrete time state space representations; ii) design state observers and estimators for deterministic and stochastic systems; iii) design predictive controllers. Application to real engineering problems in laboratory environment.
Syllabus
State-space representation of linear dynamical systems in continuous time and discrete time domains. Canonical forms of representation, conversion between representations, homogeneous and non-homogeneous solution of the equation of state. Controllability and observability properties. Lyapunov stability. State feedback control. Regulator and servo controller design by pole-placement: the Bass-Gura method and the Ackermann’s formula. Observer and state estimator: Luenberger observer, separation theorem. General formulation of the optimal control problem: cost functional, fixed and free final state. The linear quadratic regulator: optimal and suboptimal solution. Properties of the linear quadratic regulator. The Linear Quadratic Gaussian Regulator. Kalman filter and stationary Kalman filter. Predictive Control: principle of receding horizon control; objective function; solution of the generalized predictive control. Experimental work in laboratory environment.
Prerequisites
Approval in Control Systems or equivalent course.
Cross Competence Component
Laboratory project done in group requires critical and inovative reasoning, decision making, team work, leadership, oral communication skills, use of computer multimedia tools (20% of the evaluation component of the Laboratory Project).
Laboratorial Component
1. Modeling and analysis of the system properties 2. Design of optimal controller with state observer 3. Implementation of digital controller with practical demonstration
Programming And Computing Component
Programing in Matlab/Simulink.
Ethical Principles
All members of a group are responsible for the group’s work In any assessment, every student shall honestly disclose any help received and sources used. In an oral assessment, every student shall be able to present and answer questions about the entire assignment and solution.