Course detail
Robust and algebraic control
FEKT-MRALAcad. year: 2012/2013
The course is focused on application of algebraic theory for control circuit’s synthesis. It consists of algebraic theory, the controller designs using polynomial methods, structured and unstructured uncertainties of dynamic systems and introduction into robust control.
Language of instruction
Number of ECTS credits
Mode of study
Guarantor
Learning outcomes of the course unit
Prerequisites
Co-requisites
Planned learning activities and teaching methods
Assesment methods and criteria linked to learning outcomes
Exam. Max 70 points.
Course curriculum
2. Algebraic theory
3. Application of algebraic methods to simple controller designs
4. Sensitivity function shaping design
5. Time optimal discrete control
6. Quadraticaly optimal discrete control
7. Stochastic control
8. Interval polynomials
9. Inroduction into robust control
10. Robust control
11. Mixed sensitivity design, GS controller
12. Course summary
Work placements
Aims
Specification of controlled education, way of implementation and compensation for absences
Recommended optional programme components
Prerequisites and corequisites
Basic literature
Kučera:Algebraická teorie reg.,Academia Press (CS)
Scherer, Weiland: Linear matrix inequalities in control. DISC, 2000 (EN)
Štecha, Havlena: Moderní teorie řízení, ČVUT Praha (CS)
Recommended reading
Classification of course in study plans
Type of course unit
Lecture
Teacher / Lecturer
Syllabus
Introduction to algebraic theory of control.
Using of algebraic theory for design of controllers, stabilizing controllers.
Discrete time optimal control.
Feedback and feed forward quadratic optimal control.
Discrete time stochastic control, MVC and generalized MVC controllers.
Sensitivity function shaping and disturbance rejection.
Algebraic theory for multivariable systems.
Control design of multivariable systems.
Parametric uncertainties, interval polynomials, stability of interval polynomials.
Nonparametric uncertainties, norms of signals and systems.
Robust control.
Sliding mode control.
Fundamentals seminar
Teacher / Lecturer
Syllabus
Solution of polynomial equation.
Calculation of stabilizing class of controllers for given system.
Time optimal controller design.
Interval polynomials and their stability.
Robust controllers.
Evaluation.
Exercise in computer lab
Teacher / Lecturer
Syllabus
Solution of polynomial equations using Matlab.
Exact model matching problem design and simulation.
Minimum variance control design.
Sensitivity function shaping design of controller.
Sliding mode controller design.