Læringsmål

To give students insight and knowledge in advanced and optimal control strategies and problems, and to give necessary basis for further studies.

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 og 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.

Organisering

Lectures, exercises with the use of PC software.

Vurderingsformer

An intermediate test weights 30% and a final test weights 70% in the final grade.

It is necessary to pass the final test in order to get a passing grade.

Det tas forbehold om mindre justeringer i planen.