Main Topics: Advanced Control Theory 

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 References:1. The figures above are from Di Ruscio and Dalen (2017) 

