Course information

period 4, 12/13

Course objectives

The aim of this course is to provide the basic theory required for solving complex control problems. The course presents theory and methodology for modelling and analysis of signals and systems, and methods for design of feedback controllers. Special emphasis is placed on:

Control of systems with multiple inputs and outputs
Fundamental limitations for control performance
Sensitivity and robustness in feedback systems
Synthesis of controllers through optimization
Predictive control with constraints

Personnel

Mikael Johansson: Lectures

Håkan Terelius, Computer exercises and labs

Olle Trollberg, Computer exercises and labs

Hanna Holmqvist, administrator

Course litterature and software

The course follows the book:

Torkel Glad and Lennart Ljung; Control Theory - Multivariable and Nonlinear Methods, Taylor and Francis Ltd, ISBN 0748408789 (Swedish version: T. Glad and L. Ljung; Reglerteori, flervariabla och olinjära metoder, Studentliteratur, 2:a upplagan, ISBN 91-44-03003-7)

Additional course material (mostly in English)

are also sold at STEX, at the entrance level of Osquldas väg 10.

The following material contains high-quality supplementary reading:

Skogestad, S. och Postlethwaite, I.: Multivariable Feedback Control, Analysis and Design, John Wiley & Sons, 1996
Åström, K.J. och Wittenmark, B.: Computer Controlled Systems, Theory and Design, 3rd ed, Prentice Hall, 1997
Goodwin, G.C., Graebe, S.F. och Salgado M.E.: Control System Design, Prentice Hall 2001
Maciejowski, J.M.: Predictive Control with Constraints, Prentice-Hall, 2002.

Matlab is available in most of the computer rooms in KTH. Under Linux, you need to write module add matlab to be able to start Matlab. A student version of Matlab is available for use at home via KTH Program Distribution.

Disposition

The course consists of 14 lectures and 8 exercise sessions. In addition, four compulsory computer exercises and a compulsory laboratory project form part of the course. Grading is based on a 5-hour written final exam.

Schedule

Note: The schedule is preliminary. Although the dates are fixed, some lecture content might be changed or shifted around.

Lectures

Lec	Day	Date	Time	Place	Content	References
Lec 1	Wed	March 20	10 - 12	V3	Introduction; Signal norms and system gains, small gain theorem	Textbook: Ch 1
Lec 2	Thur	March 21	10 - 12	V3	The closed-loop system	Textbook: Ch 6
Lec 3	Mon	March 25	10 - 12	V3	Robustness
Lec 4	Thur	March 28	10 - 12	V3	Limitations and conflicts	Textbook: Ch 7
Lec 5	Wed	April 10	10 - 12	V3	Multivariable systems	Textbook: Ch 7, 8
Lec 6	Mon	April 15	13 - 15	V3	Decentralized control and decoupling	Textbook: Ch 8
Lec 7	Wed	April 17	10 - 12	V3	Multivariable loop shaping	Textbook: Ch 10.1-10.2, 10.4
Lec 8	Mon	April 22	15 - 17	V3	Linear-quadratic control	Textbook: Ch 5.1-5.4, 9.1-9.3, 9.A
Lec 9	Fri	April 26	13 - 15	V3	Design example and relation to H2	Textbook: Ch 10.3
Lec 10	Thur	May 2	13 - 15	V3	Glover-McFarlane and controller order reduction	Textbook: Ch 10.5, 3.6
Lec 11	Fri	May 3	13 - 15	V3	Dealing with hard constraints	Lecture slides
Lec 12	Wed	May 8	13 - 15	V3	Model predictive control	Textbook Ch 2.2, 3.7, 4 + Lecture slides
Lec 13	Thur	May 16	13 - 15	V3	Model predictive control	Textbook: Ch 16
Lec 14	Fri	May 17	13 - 15	V3	Summary and review

Exercises

There is one ordinary exercise group. In addition, since the hours for the exercises conflict with other courses for some students, we offer one Q&A session per week where students can come and get help with the exercises. For the Q&A sessions you are expected to go through the exercise notes before coming to the Q&A session to get help with the parts you find difficult. Notes from the exercises will be available through the course homepage before the Q&A session.

The numbers indicated for the exercise sessions in the column "References" refer to problems in the 2011 edition of the exercise compendium.

Exercises

Group A		Time	Place	References	At home
Ex 1	Fri	March 22, 10-12	Q34	1.4, 1.5, 1.6, 6.2	1.3
Ex 2	Mon	April 8, 10-12	V3	7.1, 7.2, 6.5, 7.19	7.14,7.18
Ex 3	Thur	April 11, 08-10	V3	2.3, 2.5, 3.2, 3.12	3.15
Ex 4	Tues	April 16, 10-12	L51	8.2, 8.5, 8.17	8.1
Ex 5	Fri	April 19, 10-12	L52	10.2, 10.4, 10.8	10.12
Ex 6	Wed	April 24, 08-10	Q36	9.3, 9.7, 9.1	9.9a, 9.3
Ex 7	Tues	April 30, 10-12	V22	7.3, 10.3, 10.9
Ex 8	Tues	May 14, 10-12	V32	4.1, 16.2, 16.4

Question and Answer sessions where students can get help with problems or the topics covered in the course.

Group B		Time	Place	References
Q&A 1	Fri	March 22, 13-15	V33	Ex 1, Ex 2, Lab 1
Q&A 2	Thur	April 11, 10-12	V3	Ex 3, Ex 4, Lab 2
Q&A 3	Fri	April 19, 13-15	Q21	Ex 5, Ex 6, Lab 3
Q&A 4	Tues	April 30, 13-15	Q36	Ex 7
Q&A 5	Tues	May 14, 13-15	V32	Ex 8, Lab 4

Computer exercises

The computer exercises are to be solved using Matlab in groups of two students. A written report for computer exercise 1 and 3 are to be handed in by 130408 and 130502, respectively. Computer exercises 2 and 4 are reported by filling in a short form (which can be downloaded below) which should be handed in no later than 130424 and 130510, respectively. All reports and forms should be handed in to STEX.

A printed version of the computer exercises is sold at STEX. PDF versions of the computer exercises, and associated Matlab-files are found above.

Students can go to the exercise group that they prefer (no assignment of groups).

Computer exercises - Group A

No.					Content	Exercise	Report Deadline
1	Wed	March 27	10-12	XQ23	Loop shaping	Lab 1	130408
2	Wed	April 17	13-15	XQ23	MIMO, RGA, decentralized control	Lab 2	130424
3	Tue	April 23	08-10	XQ23	H_inf control, robustness	Lab 3	130502
4	Mon	May 6	13-15	XQ23	Decoupling, Robust Loop Shaping	Lab 4	130510

Computer exercises - Group B

No.					Content	Exercise	Report Deadline
1	Wed	March 27	13-15	XQ23	Loop shaping	Lab 1	130408
2	Fri	April 17	15-17	XQ23	MIMO, RGA, decentralized control	Lab 2	130424
3	Tue	April 23	13-15	XQ23	H_inf control, robustness	Lab 3	130502
4	Mon	May 6	15-17	XQ23	Decoupling, Robust Loop Shaping	Lab 4	130510

Project

The laboratory project considers a multivariable process whose properties can be modified to display a wide range of dynamical properties. The project is performed in groups of 4 students in the Control lab, A:225, Osquldas väg 10, level 2.

Registration for the laboratory will be available through the course home page. Those students who have not managed to form a group of four students prior to registration should register for a time and a process that some other group (with less than four students) have registered for. Note that you will need to book the same lab process (e.g., A,B,C,...) on both occasions. Written reports should be handed in to STEX no later than 130517. The report should present the results in a systematic and concise manner.

Exam

The exam is scheduled for Saturday, May 25, 09.00-14.00. You will need to register for the exam using the exam registration system in KTH student web pages, "My Pages". You are allowed to bring the following material to the exam: the course book for EL2520 (advanced course) and EL1000/1110/1120 (basic course; if you took your basic control course outside of KTH, you are free to bring the corresponding course book), copies of slides from this year’s lectures, mathematical tables and pocket calculator. Exercise materials (ovningsuppgifter, ex-tentor och losningar) are NOT allowed. You are allowed to have made notes in your books and slide print-outs, as long as they do not concern solutions to problems, be it exercises, old exams or any other problems

Old Exams

Course evaluation

Please help us to improve the course by answering the course evaluation. We listen to all constructive criticism and make our best to continually improve the course.

This year's course evaluation can be found at

http://www.ee.kth.se/cgi-bin/kursutvardering/ev.cgi?e=343