Course detail

Optimalization of Controllers

FEKT-MPC-OPRAcad. year: 2024/2025

The course is focused on modern methods of analysis and design of control systems. In the centre of interest are adaptive systems,
design of optimal control, predictive controllers and using artificial intelligence in control algorithms.

Language of instruction


Number of ECTS credits


Mode of study

Not applicable.

Entry knowledge

The subject knowledge on the Bachelor´s degree level is requested.

Rules for evaluation and completion of the course

Project realization: Max. 30 points.
Combined exam includes a written part and an oral examination: Max. 70 points.

The content and forms of instruction in the evaluated course are specified by a regulation issued by the lecturer responsible for the course and updated for every academic year.


Familiarize students with modern approaches from the field of automatic control, signal processing and decision-making. Students adopt the methodology of the optimal controller design, adaptive controller; build models and perform diagnosis from the experimentally measured data.
Students are able to design a complex control system and transfer it into a real technological process.

Study aids

Not applicable.

Prerequisites and corequisites

Not applicable.

Basic literature

Dokoupil, J.: Optimalizace regulátorů. Přednášky, VUT FEKT, Brno, 2024. (CS)

Recommended reading

Not applicable.

Classification of course in study plans

  • Programme MPC-KAM Master's, 1. year of study, winter semester, compulsory-optional

Type of course unit



26 hours, optionally

Teacher / Lecturer


Discrete variants of a PID controller. Some controller modifications designed for implementation in real computers and their tuning will be presented.
The basic principles of optimization theory: necessary and sufficient conditions of minima, convex analysis, solving optimization tasks with both equality and inequality constraints (Karush–Kuhn–Tucker conditions), solving a non-linear problems by globally convergent algorithms, introduction into the theory of probability.
Formulating the task of optimal control. The implementation of the optimal state-space controller will be discussed.
Formulating the task of optimal control. The implementation of the optimal state-space controller will be discussed - continuation.
Formulating the task of predictive control. The implementation of the predictive controller will be discussed.
Estimation of linear regression model parameters. Some practical aspects such as the model structure selection, numerical filters, estimation in the close-loop feedback system will be discussed.
Tracking of time-varying model parameters by adaptive estimation algorithms.
Introduction of the Kalman filter and its deployment in the tasks of the state electrical drive estimation.
Fault detection and isolation based on the information carried by measured data.
Nonlinear parametric estimation and state filtering.
Data-driven model merging strategy making the system predictor more refined will be shown. The use of the bank of models for control will be studied.
Optimal decision-making in the discrete event systems.
Review of the curriculum.

Laboratory exercise

39 hours, compulsory

Teacher / Lecturer


Discrete PID controller.
MATLAB/Simulink – PLC B&R.
Optimal state-space controller
Optimal state-space controller – continuation
Predictive controller.
Recursive leas-squares method with a square-root filter.
Adaptive variants of the recursive-least squares methods.
Kalman filter as the state estimator.
Working on a project.
Working on a project.
Working on a project.
Working on a project.
Exercises evaluation.