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 SC4025: Control Theory ECTS: 6 Responsible Instructor: dr.ir. T. Keviczky Contact Hours / Week x/x/x/x: 6/0/0/0 Education Period: 1 Start Education: 1 Exam Period: 1, 2 Course Language: English Course Contents: - State-space description of multivariable linear dynamic systems, interconnections, block diagrams- Linearization, equilibria, stability, Lyapunov functions and the Lyapunov equation- Dynamic response, relation to modes, the matrix exponential and the variation-of-constants formula- Realization of transfer matrix models by state space descriptions, coordinate changes, normal forms- Controllability, stabilizability, uncontrollable modes and pole-placement by state-feedback- LQ regulator, robustness properties, algebraic Riccati equations- Observability, detectability, unobservable modes, state-estimation observer design- Output feedback synthesis (one- and two-degrees of freedom) and separation principle- Disturbance and reference signal modeling, the internal model principle Study Goals: The student is able to apply the developed tools both to theoretical questions and to simulation-based controller design projects. More specifically, the student must be able to:- Translate differential equation models into state-space and transfer matrix descriptions- Linearize a system, determine equilibrium points and analyze local stability- Describe the effect of pole locations to the dynamic system response in time- and frequency-domain- Verify controllability, stabilizability, observability, detectability, minimality of realizations - Sketch the relevance of normal forms and their role for controller design and model reduction- Describe the procedure and purpose of pole-placement by state-feedback and apply it- Apply LQ optimal state-feedback control and analyze the controlled system- Reproduce how to solve Riccati equations and describe the solution properties- Explain the relevance of state estimation and build converging observers- Apply the separation principle for systematic 1dof and 2dof output-feedback controller design- Build disturbance and reference models and apply the internal model principle Education Method: Lectures and Exercise Sessions Computer Use: The exercises will be partially based on Matlab in order to train the use of modern computational tools for model-based control system design. Literature and Study Materials: B. Friedland, Control System Design: An Introduction to State-space Methods. Dover Publications, 2005 K.J. Astrom, R.M. Murray, Feedback Systems: An Introduction for Scientists and Engineers, Princeton University Press, Princeton and Oxford, 2009http://www.cds.caltech.edu/~murray/amwiki/index.php?title=Main_Page Assessment: Written mid-term examination (15%) and written final examination (85%). For the resit examination (January 2014) there will be a written examination (100%) for which the mid-term result will not count. Design Content: Simulation-based state-space approach to model-based control system design
Last modified: 6 November 2013, 15:24 UTC
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