| Week
nr. |
Date |
Topic |
| 34 |
20.08 |
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 2018: Lecture1a
Lecture1b
|
| 35 |
27.08 |
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 and Ch 2
Video Lecture 2018: Lecture2a
Lecture2b
|
| 36 |
3.09 |
Introduction to optimal
control of linear dynamic systems with Linear
Quadratic (LQ) criterions.
Lecture notes Ch.. 3, Ch. 4.1 and Ch. 4.2
Video Lect. 2017: Lecture
3a Lecture3b
Lecture3c
Lecture3d
|
| 37
38
|
10.9
17.9
|
Lecture notes Ch 3 and
exercise 3. LQ-control and Sections 4.3 and
4.4. Ex. 8.3-9.5 LQ and PD control.
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.
Video Lect. 2018: Lecture4
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.
|
| 38-39 |
17.9-24.9 |
Section 4.6 and 4.8
Optimal systems with disturbances and integral
action.
Video Lecture Fall 2018: Lecture5a
Lecture5b
video Lecture Fall 2017: Lecture5a
Lecture5b
Optimal tracking systems, Sections 4.7 and 4.8.
details not syllabus.
Lecture 24.09
Short intro! Discrete optimal control. Ch. 5.1 and
5.2
Video Lecture fall 2018: Lecture6a
Lecture6b
|
| 40 |
1.10 |
Standard Discrete time LQ
optimal control problem. Ch 5.2
Introduction to method for Discrete LQ
optimal control with integral action
Video Lect. 2018: Lecture7
|
| 41 |
8.10 |
Discrete LQ optimal
tracking control, Ch 5.3.
Method for Discrete
LQ optimal control with integral action
|
| 42 |
15.10 |
Discrete optimal control
Lecture notes 5.3.
mic-journal paper: LQ
optimal control with integral action
Video lecture
Fall2018: Lecture8a
Lecture8b
Fall2017: Lecture8
|
| 43 |
22.10 |
Discrete optimal control
Ch. 5 Lecture notes Ch 5.2 and 5.3.
LQG control
Doyle paper
Video lecture
Fall 2017: Lecture9a
Lecture9b
|
| 43-44 |
22.10-29.10 |
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
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
|
| 44-45 |
29.10-5.11 |
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
|
| 45 |
5.11 |
Lecture notes Sec 5.4.
Weighting control deviations. Sec 5.6 Solution of
DARE, generalized eigenvalue problem. Ch 7 Time
delay. Examples tau=1, tau=2 delays.
Ex impementing delay model in Ch 7.2.1 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)
|
| 46 |
12.11 |
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)
|
| 47 |
19.11 |
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.
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).
LQ and PI control with time delay. (Paper for info)
(for info).
New paper on LQ optimal control with integral
action:http://www.mic-journal.no/PDF/2012/MIC-2012-2-1.pdf
Video: Fall
17 20.11.17
|
48
|
26.11 |
Final Exam
|
| 51 |
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