ELEC-E8116 - Model-Based Control Systems D, Lecture, 7.9.2022-13.12.2022

Topic outline

• Lectures
  • 

    Lecture 1 Folder

    Introduction to the course.  Some examples.  Norm theory.  The Small Gain Theorem.

    The lecture is pre-recorded, and no lecture in the classroom is given.  From the second study week both exercise hours and lectures are in classroom.  No recordings are then available.

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    Lecture 2 Folder

    LINEAR multivariable systems:

    
    

    •Impulse response and weighting function

    •Transfer function matrices

    •Transfer operator

    •Input-output-models

    •State-space representation

    •Frequency functions (might go to the next lecture)

    
    

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    Lecture 3 Folder

    Chapter 2 continues

     - Structural properties

    - Poles and zeros of MIMO systems

    - Frequency functions and norms

    
    

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    Lecture 4 Folder

    - Something more on singular values and singular value decomposition (SVD), Chapter 2

    Chapter 3

    - Closed loop MIMO systems

    - Sensitivity functions

    - The Push-Through Rule

    - The "Most Important Formula of Control Engineering"

    - Internal stability and robustness

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    Lecture 5 Folder

    Chapter 3 continues:

     - Internal stability

    - Robustness

    - Objectives in control design

    - Example of Loop Shaping Control

    Chapter 4:

    - Scaling of Variables

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    Lecture 6 Folder

    Chapter 4 continues:

    - Fundamental limitations in control

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    Lecture 7 Folder

    Lecture exceptionally on Wednesday 26.10, 14:15-16, AS6

    Chapter 5: Linear Quadratic (LQ) control

    -General ideas

    - Principle of Optimality

    - Discrete-time LQ regulator

    -Continuous-time regulator, the Hamilton-Jacobi-Bellman equation

    - Maximum principle

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    Lecture 8 Folder

    Chapter 5:

    - some repetition on optimal control

    - servo problem: practical approach (adding an integrator)

    Chapter 6;

    - Relative Gain Array (RGA)

    - Internal Model Control (IMC)

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    Lecture 9 Folder

    Chapter 6:

    - Relative Gain Array, RGA,  (cont.)

    -Internal Model Control (IMC)

    Chapter 7:

    -General control configuration 

    - Formal loop shaping

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    Lecture 10 Folder

    Chapter 7 (available in lecture 9):

    - Generalized control configuration

    - Formal loop shaping

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    Lecture 11 Folder

    - Chapter 8:

    - LQG control

    -Robustness of LQG control

    - Loop transfer recovery (LTR)

    - Introduction to Model Predictive Control (MPC)

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    Lecture 12 (final lecture) Folder

    - Chap 8_plus (additions to Chap8 published earlier)

    - Introduction to MPC cont.

    - Final steps

    - A look back

    -Course ends