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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
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)
- Exercises
- Solutions
- Computer exercises and laboratory project
is 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 10 |
| Lec 7 | Wed | April 17 | 10 - 12 | V3 | Multivariable loop shaping | Textbook: Ch 2-3 |
| Lec 8 | Mon | April 22 | 15 - 17 | V3 | Linear-quadratic control | Textbook: Ch 9 |
| Lec 9 | Fri |
April 26 |
13 - 15 | V3 | Design example and relation to H2 | |
| Lec 10 | Thur | May 2 | 13 - 15 | V3 | Glover-McFarlane and controller order reduction | |
| Lec 11 | Fri | May 3 | 13 - 15 | V3 | Dealing with hard constraints | Textbook: Ch 10 |
| Lec 12 | Wed | May 8 | 13 - 15 | V3 | Model predictive control | Textbook: Ch 16 |
| 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 at least 24 h 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, 7.3 | 3.12, 3.15 |
| Ex 4 | Tues | April 16, 10-12 | V01 | 8.2, 8.5, 8.17 | 8.1 |
| Ex 5 | Fri | April 19, 10-12 | V01 | 10.2, 10.4, 10.8 | 10.12 |
| Ex 6 | Wed | April 24, 08-10 | V01 | 9.3, 97, 9.1 | 9.9a, 9.3 |
| Ex 7 | Tues | April 30, 10-12 | V01 | 10.3, 10.9 | |
| Ex 8 | Tues | May 14, 10-12 | V01 | 4.1, 16.2, 16.4 |
Question and Answer Sessions for Exercises (mainly for those who can not make the ordinary exercises).
| 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 | V01 | Ex 5, Ex 6, Lab 3 |
| Q&A 4 | Tues | April 30, 13-15 | V01 | Ex 7 |
| Q&A 5 | Tues | May 14, 13-15 | V01 | 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 below.
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 | Fri | 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 | 120410 |
| 2 | Fri | April 17 | 15-17 | XQ23 | MIMO, RGA, decentralized control | Lab 2 | 120424 |
| 3 | Tue | April 23 | 13-15 | XQ23 | H_inf control, robustness | Lab 3 | 120504 |
| 4 | Mon | May 6 | 15-17 | XQ23 | Decoupling, Robust Loop Shaping | Lab 4 | 120514 |
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 is available from 130322 through the course home page. The registration system will close 130506. 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) on both occasions. Written projects 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), copies of slides from this year’s lectures, mathematical tables and pocket calculator. Note that exercise materials (ovningsuppgifter, ex-tentor och losningar) are NOT allowed.