| Week
nr. |
Date |
Topic |
| 33 |
14.08 |
Introduction, notation,
state space models, solution of the state equation,
discrete time state space models, controllability
and observability.
Lecture notes Ch. 1. Files to run Ex 1.3 in the
lecture notes, ctrb2ex.m,
gram2.m
Video Lecture: Lecture1a
Lecture1b
|
| 34 |
21.08 |
Zeroes and poles in multivariable systems.
Multivariable frequency analysis. Analysis
based on both transfer matrix models and state
space models. Example
in lecture ex_zeroes.m
Lecture notes Ch 1.8 Example 1.4 on page 15: main_ex1_4.m
Lecture notes: Ch 1.8 and Ch 2: How to
calculate transmission zeroes as in Ch 1.8 and
definitions as Controllability and Stabilizability
and Observability and Detectability, as defined in
Ch. 2.1.
Video Lecture: Lecture2a
Lecture2b
|
| 35-36 |
28.08-4.9 |
Introduction, optimal
control of linear dynamic systems with Linear
Quadratic (LQ) criterions.
Lecture notes Ch.. 3, Ch. 4.1 and Ch. 4.2
Video Lectures: Lecture
3a Lecture3b
Lecture3c
|
| 36-35
37
|
4.9-28.8
11.9
|
Overal same as theory in
Week35 "Linear Quadratic (LQ) optimal control".
LQ-optimal control, Ch 4.2 and Secs. 4.3 and
4.4. Ex. 8.3-8.5 LQ and PD control.
Video Lectures:Lecture4b
Lecture4a
Plus videos: Lecture
3a Lecture3b
Lecture3c
Section 4.6, systems with disturbances.
LQ-control with integral action as an example. If
time, solution of the Algebraic Riccati Equation
(ARE) Section 4.5.
Short info: Theory as for next week:
Video Lecture5 (Sec 4.7+4.8): Lecture5a
Lecture5b
Extra: Video Lecture: Solving the ARE
using Real Schur Decomposition of the Hamiltonian
matrix F=[A -H;-Q -A^T]. Note -H in the F matrix
in VideoRecord.
|
| 38 |
18.9 |
Sec. 4.6 Optimal systems with disturbances and
Sec. 4.7 Optimal tracing systems.
Videos: Lecture5a
Lecture5b
Optimal tracking systems, Sections 4.7 Details not
syllabus, i.e only an overview.
Video Lectures:
Short intro to Discrete optimal control. Ch. 5.1
and 5.2
Video Lecture: Lecture6a
Lecture6b
|
| 39 |
25.9 |
1) Standard Discrete time LQ (DLQ) optimal
control problem. Ch 5.2, (in particular 5.2.2,
5.2.3 and 5.2.5).
2) Introduction to method for Discrete LQ
optimal control with integral action
Video Lectures:
1) Discrete optimal control. Ch. 5.1 and 5.2
Video Lecture: Lecture6a
Lecture6b
2) Lecture7
MATLAB m-file for the MIMO LQ-optimal controller
with integral action: dlqdu_pi.m
|
| 40 |
2.10 |
DLQ problem Ch. 5.2.
Discrete LQ optimal tracking control, Ch 5.3.
Method for Discrete
LQ optimal control with integral action
Video Lectures: Lecture7
Lecture8a
(Info: Unfortunately no noise in video Lecture8a.)
MATLAB example: dlq_ex2_du.m
|
| 41 |
9.10 |
Discrete optimal control
Lecture notes 5.3.
mic-journal paper: LQ
optimal control with integral action
Video lectures
1): Lecture8b
2): Lecture8c
No classrom Lecture week 41
|
| 42 |
16.10 |
Discrete optimal control
Ch. 5 Lecture notes Ch 5.2 and 5.3.
LQG control
Doyle paper
Video lecture
Fall: Lecture9a
Lecture9b
Work with: Task3 in Exercise
8. Solution proposal dlq_ex3_du.m
|
| 42-43 |
16.10-23.10 |
1) Standard discrete LQ
opt control problem, Ch. 5.3. Josephs stable
formulation of the discrete Riccati eq and solving
the DARE dric_solv.m
Test example main_ex_ric.m
2) LQ with integral action: note.
3) Control of distillation column example. As in
Example 5.3: m-file Software in d-col.zip main_kolreg_lq.m
Description of distillation column model used in
Ex 5.3 with parameter numerical values
2620_001.pdf Se also Ex 8.1 for a
distillation column modeling example. Function dread.m used
in main_kolreg_lq.m
|
| 43-44 |
23.10-30.10 |
Weighting control
deviations. Paper: Discrete LQ
optimal control with integral action (pdf-fil
uten figurer)
LQ
optimal control with integral action
(mic-paper). MATLAB scripts for the examples
in the paper: dlq_ex4_du.m,
dlq_ex3_du.m,
dread.m (low level
function used)
Solution to given exercise: main_2x2_ex.m
Function to compute the optimal control: dlq_du.m dlqdu_pi
Testing Alternative 1. x=x+y and Alternative 2
x(i+1)=x(i)+y:
main_test_alt1.m
main_test_alt2.m
Volontory Exercise: Task
Mandatory Exercise
|
| 44 |
30.10 |
Lecture notes Sec 5.4.
Weighting control deviations. Sec 5.6 Solution of
DARE, generalized eigenvalue problem.
Ch 8 Time delay. Examples tau=1, tau=2 delays.
Ex implementing delay model in Ch 8.2.1 ex1_delay_ssmodel.m
lecture notes Example 5.2 m-files:
main_dlq_rdu.m main_dlq_rdu2.m
Integral action: paper
IMC tuning rules etc. (Lecture
notes) (Lecture
notes2)
|
| 45 |
6.11 |
Lecture
12a Estimator and Regulator duality, Ch.
11.1-11.2
Lecture
12b The Separation principle, Ch. 11.3
Lecture
12c The LQG controller, Ch. 11.4
1) Control and state estimation. Kalman-filter.
Lecture notes Sec 10.
2) Exam 2010 Task 1 amd Task 2
3) Handwritten solutions to some old Final exam
tasks (in norwegian)(2641_0001.pdf)
|
| 46 |
13.11 |
Summing up lecture.
Main Topics: System theory, from Ch.1 and 2.
LQ optimal control of linear continuous and discrete
time systems, Ch. 4 and 5 (mostly Ch4.2+Ch5.2). Item
1-4 in Main
Topics.
Control and state estimation. Kalman-filter. Lecture
notes Sec 11.
Exam
tasks.
Robustness in LQ and LQG systems. Ch. 13 and 12.
(short info)
Uncented Kalman Filter (UKF note)
(for info, not syllabus).
LQ and PI control with time delay. (Paper for info)
(for info, not syllabus)).
New paper on LQ optimal control with integral
action:http://www.mic-journal.no/PDF/2012/MIC-2012-2-1.pdf
Video record: Advanced
Control Video Summary
|
| 47 |
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Final Exam on Campus |
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