Læringsutbytte

A candidate who has passed the course will have a learning outcome in the form of acquired knowledge, skills, and general competence, as described below[1].

Knowledge

The candidate will:

1. Understand how system theory is used to analyze Multiple Input and Multiple Output (MIMO) systems.
2. Understand how optimal control for MIMO systems may be designed using the Maximum principle. Both for continuous and discrete time systems.
3. Understand how observers are used in state feedback control systems and properties of the Linear Quadratic Gausian (LQG) method.
4. Understand how optimal control systems with integral action may be designed for MIMO systems and similarities and differences between the Model Predictive Control (MPC) method.

Skills

The candidate will :

1. Be able to analyze and design control systems for MIMO systems.
2. Be able to design optimal control systems for MIMO systems.
3. Be able to design optimal control systems with integral action for MIMO systems.
4. Understand the similarities and differences between optimal control systems and MPC systems.

General competence

The candidate will:

1. Understand the structure of advanced and optimal control system structures, and obtain insight and knowledge about advanced and optimal control systems
2. Understand and provide the necessary foundation for further studies
3. Get experience in presenting scientific theory and applications

[1] Codes given in parentheses correspond to the codes given in the programme description.

Innhold

Introduction to Mathematical systems theory: Model formulations, controllability/reachability, stabilizability, detectability, poles and transmission zeros in MIMO systems. MIMO control structures. Controller synthesis: Decoupling, pole placement, optimal control. LQ and LQG control. Relations between optimal and predictive control. Continuous time and discrete time systems. Multivariable control with state observer. Non-linear decoupling, feedback linearization. Linear systems with disturbance. Optimal feed-forward. Optimal tracking systems. Observer-regulator duality. The separation theorem. Optimal control structures with integral action.

Arbeids- og læringsformer

Lectures and assignments are used.

Lectures are used to highlight the main topics of the course, facilitating knowledge.

During the semester the students will work with several assignments. These assignments will be based on problem based learning giving the students better understanding of specific subtopics in the course and general competence in writing scientific reports with citing and referencing sources.

Vurderingsformer

The final test will count 80% of the course grade.

A set of mandatory assignments count 20% of the final grade.

It is necessary to pass the final examination in order to achieve a passing grade.

Det tas forbehold om mindre justeringer i planen.