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

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

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

• Feedback Control Theory / Doyle
• Adaptive Control / Landau

Notes/Handbook

Robust and Adaptive Control, Course-notes by Alireza Karimi

Moodle Link

• https://go.epfl.ch/ME-524