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Main Topics: Advanced Control Theory |
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| 1. Part1- System
Theory: Models of systems. Continuous and discrete
time domain models. State space models. Poles and zeroes in
MIMO systems. Stability. Multivariable frequency analysis.
2. Part2- Continuous time LQ Optimal Control: The Maximum principle. Standard Linear Quadratic (LQ) optimal control. LQ optimal control with disturbances and integral action. Tracking control. The Algebraic Riccati Equation (ARE). 3. Part3- Discrete time LQ Optimal Control: Maximum Principle for discrete time systems. Discrete LQ optimal control. Disturbances and integral action. tracking control. The Discrete Algebraic Riccati Equation (DARE). Discrete LQ optimal control with integral action: A simple controller on incremental form for MIMO systems 4. Part4- Special: The Kalman Filter and LQ Optimal Control: LQG control. 5. Part 5- Tuning PID controllers directly from observed data. Model free PID controller tuning. Design of PID controllers for prescribed relative time delay error, GM etc. Direct PID controller tuning: Model_free_tuning Demo: A video illustrating: A
Full Demo
av Model Free DP Vessel System
References: 1. The figures above are from Di Ruscio and Dalen (2017) |
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