Læringsmål

To give students insight into and knowledge of advanced and optimal control strategies and problems, and to provide the necessary foundation for further studies.

Innhold

Course Description

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.

Organisering

Lectures, exercises using computer software.

Vurderingsformer

An intermediate examination counts for 30% and a final examination counts for 70% 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.