# Coursebooks

Karimi Alireza

English

#### Withdrawal

It is not allowed to withdraw from this subject after the registration deadline.

#### Summary

This course covers some theoretical and practical aspects of robust and adaptive control. Robust controller design with H-infinity performance, digital controller design with pole placement technique, direct, indirect and switching adaptive control are studied and implemented in a hands-on lab.

#### Content

Stability, performance and robustness of closed-loop control systems. Robust controller design by loop shaping. Robust H-infinity controller design in the frequency domain. Multivariable decoupling controller design. Gain-scheduled controller design.

Two-degree of freedom RST digital polynomial controller. Pole placement technique and its relation to Internal Model Control (IMC), Model Reference Control (MRC) and Minimum Variance Control (MVC). Robust pole placement with Q parameterization. Parameter adaptation algorithms. Direct and Indirect adaptive control. Switching adaptive control.

#### Keywords

Adaptive control, robust control, digital RST controller.

#### Learning Prerequisites

##### Required courses

Control systems + Lab

##### Recommended courses

1. Control Systems
2. System Identification
3. Multivariable systems

##### Important concepts to start the course

• Analyze a linear dynamical system (both time and frequency responses)
• Represent a linear system by a transfer function
• Identify a dynamic system using experimental data
• Design a PID controller
• Design a simple controller for a dynamic system

#### Learning Outcomes

By the end of the course, the student must be able to:
• Design an advanced controller for a dynamic system, A11
• Assess / Evaluate the stability, performance and robustness of a closed-loop system, A12
• Define (specifications) the adequate control performance for dynamic systems, A13
• Propose several control solutions, formulate the trade-offs, choose the options, A14
• Prove the performance (by simulations or experiments) of a mechatronic system, A21
• Assess / Evaluate and discuss the perform ance and the solutions, and draw conclusions.

#### Transversal skills

• Write a scientific or technical report.

#### Teaching methods

Ex cathedra course, integrated demos and case studies, Hands-on laboratory.

#### Expected student activities

Hands-on laboratory in groups of two students.

#### Assessment methods

Hands-on lab reports (30%) and written test (70%).

#### Supervision

 Office hours Yes Assistants Yes Forum No

#### Resources

##### Bibliography

1. Feedback Control Theory by Doyle, Francis and Tannenbaum; Maxwell Macmillan, 1992.

##### Notes/Handbook

Robust and Adaptive Control, Course-notes by Alireza Karimi

### In the programs

• Semester
Spring
• Exam form
During the semester
• Credits
3
• Subject examined
• Lecture
2 Hour(s) per week x 14 weeks
• Project
1 Hour(s) per week x 14 weeks
• Semester
Spring
• Exam form
During the semester
• Credits
3
• Subject examined
• Lecture
2 Hour(s) per week x 14 weeks
• Project
1 Hour(s) per week x 14 weeks
• Energy Management and Sustainability, 2018-2019, Master semester 2
• Semester
Spring
• Exam form
During the semester
• Credits
3
• Subject examined
• Lecture
2 Hour(s) per week x 14 weeks
• Project
1 Hour(s) per week x 14 weeks
• Energy Management and Sustainability, 2018-2019, Master semester 4
• Semester
Spring
• Exam form
During the semester
• Credits
3
• Subject examined
• Lecture
2 Hour(s) per week x 14 weeks
• Project
1 Hour(s) per week x 14 weeks
• Semester
Spring
• Exam form
During the semester
• Credits
3
• Subject examined
• Lecture
2 Hour(s) per week x 14 weeks
• Project
1 Hour(s) per week x 14 weeks
• Semester
Spring
• Exam form
During the semester
• Credits
3
• Subject examined
• Lecture
2 Hour(s) per week x 14 weeks
• Project
1 Hour(s) per week x 14 weeks
• Semester
Spring
• Exam form
During the semester
• Credits
3
• Subject examined
• Lecture
2 Hour(s) per week x 14 weeks
• Project
1 Hour(s) per week x 14 weeks
• Semester
Spring
• Exam form
During the semester
• Credits
3
• Subject examined
• Lecture
2 Hour(s) per week x 14 weeks
• Project
1 Hour(s) per week x 14 weeks

### Reference week

MoTuWeThFr
8-9  MEB331
9-10
10-11  MEB331
11-12
12-13
13-14
14-15
15-16
16-17
17-18
18-19
19-20
20-21
21-22

Lecture
Exercise, TP
Project, other

### legend

• Autumn semester
• Winter sessions
• Spring semester
• Summer sessions
• Lecture in French
• Lecture in English
• Lecture in German