Advanced control systems

ME-524 / 3 credits

Teacher: Karimi Alireza

Language: English

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

  1. System Identification
  2. 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

  1. Feedback Control Theory by Doyle, Francis and Tannenbaum; Maxwell Macmillan, 1992.
  2. 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

Reference week

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