Course information
Period 4, 13/14
Important: The exercice session April, Thursday 17 is cancelled! Sorry for the late notice.
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: Exercise sessions
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:
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.
If you need to catch up on the basic control course, see litterature list for that course.
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 | Introduction; Signal norms and system gains, small gain theorem | Textbook: Ch 1 | ||||
| Lec 2 | The closed-loop system | Textbook: Ch 6 | ||||
| Lec 3 | Robustness | |||||
| Lec 4 | Limitations and conflicts | Textbook: Ch 7 | ||||
| Lec 5 | Multivariable systems | Textbook: Ch 7, 8 | ||||
| Lec 6 | Decentralized control and decoupling | Textbook: Ch 8 | ||||
| Lec 7 | Multivariable loop shaping | Textbook: Ch 10.1-10.2, 10.4 | ||||
| Lec 8 | Linear-quadratic control | Textbook: Ch 5.1-5.4, 9.1-9.3, 9.A | ||||
| Lec 9 | Design example and relation to H2 | Textbook: Ch 10.3 | ||||
| Lec 10 | Glover-McFarlane and controller order reduction | Textbook: Ch 10.5, 3.6 | ||||
| Lec 11 | Dealing with hard constraints | Lecture slides | ||||
| Lec 12 | Model predictive control | Textbook Ch 2.2, 3.7, 4 + Lecture slides | ||||
| Lec 13 | Model predictive control | Textbook: Ch 16 | ||||
| Lec 14 | 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 four Q&A sessions 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 recommended exercises that will be solved during the exercise sessions are given in the table below. The "Old" numbering refer to the exercise compendium used up until last year. The "New" numbering refer to the new compendium which will be published during the course. Note that the new numbering might be subjected to change during the course. Both compendiums will be available under the "Lecture and Exercises" page.
Exercises
| Group A | Day | Time | Place | Exercises | At home | |
|---|---|---|---|---|---|---|
| Ex 1 | Wed 26 Mars | 15-17 | D42 | Old | 1.4, 1.5, 1.6, 6.2 | 1.3 |
| New | 1.1, 3.2, 5.1, 6.1 | 5.3 | ||||
| Ex 2 | Fri 4 April | 13-15 | Q21 | Old | 7.1, 7.2, 6.5, 7.19 | 7.14,7.18 |
| New | 7.1, 7.2, 7.3, 7.5 | 7.6, 7.4 | ||||
| Ex 3 | Wed 9 April | 8-10 | V34 | Old | 2.3, 2.5, 3.2, 3.12 | 3.15 |
| New | 4.2, 8.1, 8.4 | 8.5, 4.1, 4.3 | ||||
| Ex 4 | Tue 15 April | 13-15 | E51 | Old | 8.2, 8.5, 8.17 | 8.1 |
| Ex 5 | Fri 25 April | 10-12 | E51 | Old | 10.2, 10.4, 10.8 | 10.12 |
| New | 10.1, 10.2, 10.3 | 10.4 | ||||
| Ex 6 | Fri 25 April | 13-15 | D32 | Old | 9.3, 9.7, 9.1 | 9.9a, 9.3 |
| New | 11.1, 11.2, 11.3 | 11.4 | ||||
| Ex 7 | Tue 29 April | 10-12 | D34 | Old | 7.3, 10.3, 10.9 | |
| New | 10.5, 10.6, 10.7 | |||||
| Ex 8 | Tue 13 May | 8-10 | D34 | Old | 4.1, 16.2, 16.4 | |
| New | 12.1, 12.2, 12.3 |
Question and Answer sessions where students can get help with problems or the topics covered in the course.
| Group B | Day | Time | Place | References |
|---|---|---|---|---|
| Q&A 1 | Fri 4 April | 15-16 | D32 | Ex 1, Ex 2, Lab 1 |
| Q&A 2 | Tue 15 April | 15-16 | D42 | Ex 3, Ex 4, Lab 2 |
| Q&A 3 | Fri 25 April | 13-14 | D32 | Ex 5, Ex 6, Lab 3 |
| Q&A 4 | Tue 13 May | 10-11 | D32 | Ex 7, Ex 8, Lab 4 |
Computer exercises
The computer exercises are to be solved using Matlab in groups of two students. All reports and forms should be handed in to STEX, or submitted by e-mail as PDF-files.
A printed version of the computer exercises (found above as a PDF-file) is sold at STEX. Associated Matlab-files and additional instructions are found on the page Labs and Project
Students can go to the exercise group that they prefer (no assignment of groups), and are intendet for you to work on the exercises. You are most welcome to ask questions regarding the computer exercises during the Q&A sessions.
Computer exercises - Group A
| No. | Content | Exercise | Report Deadline | ||||
|---|---|---|---|---|---|---|---|
| 1 | Wed | April 2 | 8-12 | XQ23 | Classical Loop-Shaping | Lab 1 | April 10, 2014 |
| 2 | Tue | April 10 | 8-12 | XQ23 | MIMO, RGA, Decentralized control | Lab 2 | April 18, 2014 |
| 3 | Wed | April 23 | 08-12 | XQ23 | H-inf control, Robustness | Lab 3 | April 30, 2014 |
| 4 | Wed | May 7 | 8-12 | XQ23 | Decoupling, Robust Loop Shaping | Lab 4 | May 14, 2014 |
Computer exercises - Group B
| No. | Content | Exercise | Report Deadline | ||||
|---|---|---|---|---|---|---|---|
| 1 | Thu | April 3 | 13-17 | XQ23 | Classical Loop-Shaping | Lab 1 | April 10, 2014 |
| 2 | Fri | April 11 | 8-12 | XQ23 | MIMO, RGA, Decentralized control | Lab 2 | April 18, 2014 |
| 3 | Tue | April 24 | 8-12 | XQ23 | H-inf control, Robustness | Lab 3 | April 30, 2014 |
| 4 | Wed | May 7 | 12-17 | XQ23 | Decoupling, Robust Loop Shaping | Lab 4 | May 14, 2014 |
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 BILDA. Note that you will need to book the same lab process (e.g., A,B,C,D) on both occasions. A written report should be submitted no later than May 23, 2014. The report should present the results in a systematic and concise manner.
Exam
The exam is scheduled for Wednesday, May 28, 14.00-19.00. 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
- 1305 Exam and solutions
- 1205 Exam and solutions
- 110523 Exam (pdf 73 kB) 110523 Solutions (pdf 63 kB)
- 090311 Exam (pdf 92 kB) 090311 Solutions (pdf 62 kB)
- 080314 Exam (pdf 83 kB) 080314 Solutions (pdf 57 kB)
- 070604 Exam (pdf 72 kB) 070604 Solutions (pdf 50 kB)
- 070309 Exam (pdf 130 kB) 070309 Solutions (pdf 46 kB)
- 060605 Exam (pdf 64 kB) 060605 Solutions (pdf 54 kB)
- 060311 Exam (pdf 78 kB) 060311 Solutions (pdf 64 kB)
- 050830 Exam (pdf 60 kB) 050830 Solutions (pdf 48 kB)
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.