Advanced control systems
Summary
This course covers some theoretical and practical aspects of robust and adaptive control. This includes H-2 and H-infinity control in model-based and data-driven framework by convex optimization, direct, indirect and switching adaptive control. The methods are implemented in a hands-on lab.
Content
Stability, performance and robustness of closed-loop control systems. Robust controller design by convex optimization. Model-based H-2 and H-infinity control. Data-driven fixed structure controller design with loopshaping, H2 and H-infinity performance.
Two-degree of freedom RST digital polynomial controller. Robust pole placement with Q parameterization. Parameter adaptation algorithms. Direct and Indirect adaptive control. Switching adaptive control. Gain-scheduled controller design.
Keywords
Adaptive control, robust control, digital RST controller.
Learning Prerequisites
Required courses
Control systems + Lab
Commande numeriques des systèmes dynamiques
Recommended courses
- System Identification
- 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
- Justify methodological choices and validate the results with respect to the specifications, A19
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
- Feedback Control Theory by Doyle, Francis and Tannenbaum; Maxwell Macmillan, 1992.
- Adaptive Control by Landau, Lozano, M'Saad and Karimi, Springer, 2011.
Ressources en bibliothèque
Notes/Handbook
Robust and Adaptive Control, Course-notes by Alireza Karimi
Moodle Link
In the programs
- Semester: Spring
- Exam form: Written (summer session)
- Subject examined: Advanced control systems
- Courses: 2 Hour(s) per week x 14 weeks
- TP: 1 Hour(s) per week x 14 weeks
- Type: optional
- Semester: Spring
- Exam form: Written (summer session)
- Subject examined: Advanced control systems
- Courses: 2 Hour(s) per week x 14 weeks
- TP: 1 Hour(s) per week x 14 weeks
- Type: optional
- Semester: Spring
- Exam form: Written (summer session)
- Subject examined: Advanced control systems
- Courses: 2 Hour(s) per week x 14 weeks
- TP: 1 Hour(s) per week x 14 weeks
- Type: optional
- Semester: Spring
- Exam form: Written (summer session)
- Subject examined: Advanced control systems
- Courses: 2 Hour(s) per week x 14 weeks
- TP: 1 Hour(s) per week x 14 weeks
- Type: optional
- Semester: Spring
- Exam form: Written (summer session)
- Subject examined: Advanced control systems
- Courses: 2 Hour(s) per week x 14 weeks
- TP: 1 Hour(s) per week x 14 weeks
- Type: optional
- Semester: Spring
- Exam form: Written (summer session)
- Subject examined: Advanced control systems
- Courses: 2 Hour(s) per week x 14 weeks
- TP: 1 Hour(s) per week x 14 weeks
- Type: optional
- Semester: Spring
- Exam form: Written (summer session)
- Subject examined: Advanced control systems
- Courses: 2 Hour(s) per week x 14 weeks
- TP: 1 Hour(s) per week x 14 weeks
- Type: optional
- Semester: Spring
- Exam form: Written (summer session)
- Subject examined: Advanced control systems
- Courses: 2 Hour(s) per week x 14 weeks
- TP: 1 Hour(s) per week x 14 weeks
- Type: optional
- Semester: Spring
- Exam form: Written (summer session)
- Subject examined: Advanced control systems
- Courses: 2 Hour(s) per week x 14 weeks
- TP: 1 Hour(s) per week x 14 weeks
- Type: optional
- Exam form: Written (summer session)
- Subject examined: Advanced control systems
- Courses: 2 Hour(s) per week x 14 weeks
- TP: 1 Hour(s) per week x 14 weeks
- Type: optional
- Semester: Spring
- Exam form: Written (summer session)
- Subject examined: Advanced control systems
- Courses: 2 Hour(s) per week x 14 weeks
- TP: 1 Hour(s) per week x 14 weeks
- Type: optional