Control System Design
Responsible Instructor:dr.ir. T.J.J. van den Boom (Ton)
Contact Hours / Week x/x/x/x:4/0/0/0
Course Contents:State-space description of single-input, single-output linear dynamic systems, interconnections, block diagrams
Linearization, equilibria, stability, Lyapunov functions and the Lyapunov equation
Dynamic response, relation to modes, the matrix exponential
Realization of transfer function models by state space descriptions, coordinate changes, canonical forms
Controllability, stabilizability, uncontrollable modes and pole-placement by state-feedback
Application of LQ regulator
Observability, detectability, unobservable modes, state-estimation observer design
Output feedback synthesis and separation principle
Reference signal modeling, integral action for zero steady-state error.
Analysis in robust stability and robust performance.
Basics of model predictive control (MPC). Different model-structures.
Prediction models in state-space setting. Standard predictive control scheme. Relation standard form with GPC, LQPC and other predictive control schemes. Solution of the standard predictive control problem. Stability and (initial) tuning.
Study Goals:By taking this course, the student
- will be able to master the introduced theoretical concepts in systems theory and feedback control design and
- will be able to practically apply these concepts to design projects and tasks
- and will be able to relate the learned concepts and techniques to other more specialized ones, to potentially integrate them by taking adjacent courses.
- will be able to translate a predictive control problem into a standards setting and solve the predictive control problem.
More specifically, the student will be able to:
- Translate differential equation models into state-space and transfer function descriptions
- Rationalize differences between state-space and transfer function approaches
- Linearize a system, determine its equilibrium points, analyze directly its local stability, leverage Lyapunov theory to study general stability properties
- Describe the effect of eigenvalue/pole locations to the dynamic system response in time/frequency domain. Contrast step and impulse responses. Analyze transients and steady-state
- Investigate model controllability. Formulate and apply the procedure of pole-placement by state-feedback, as well as LQ optimal state-feedback control
- Derive observability properties. Formulate and apply the procedure of state estimation and build converging observers
- Formulate the separation principle and employ it for the design of output feedback
- Build reference models and achieve zero steady-state error using integral control.
- set up a predictive control problem.
- Solve the standard predictive control problem;
- Master the main analytical details in stability proofs of predictive control schemes;
Education Method:Lectures 4/0/0/0
Literature and Study Materials:Textbook (its use is strongly recommended):
K.J. Astrom, R.M. Murray, Feedback Systems: An Introduction for Scientists and Engineers, Princeton University Press, Princeton and Oxford, 2009
Available online for download:
The link for downloading the lecture notes for model predictive control will be available in the first quarter.