Course information

Period 4, 13/14

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 Alexandre Proutiere: Lectures

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:

* Exercises and Solutions - TODO
* Computer Exercises and Laboratory Project - TODO
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 LecDayDateTimePlaceContentReferences 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 onefour Q&A session per weeks 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 ADayTimePlaceReferencesAt home Ex 1 Wed 26 Mars 15-17 D42 1.4, 1.5, 1.6, 6.2 1.3 Ex 2 Fri 4 April 13-15 D32 7.1, 7.2, 6.5, 7.19 7.14,7.18 Ex 3 Wed 9 April 8-10 E53 2.3, 2.5, 3.2, 3.12 3.15 Ex 4 Tue 15 April 13-15 L21 8.2, 8.5, 8.17 8.1 Ex 5 Thu 17 April 10-12 E33 10.2, 10.4, 10.8 10.12 Ex 6 Fri 25 April 10-12 E53 9.3, 9.7, 9.1 9.9a, 9.3 Ex 7 Mon 28 April 13-15 E33 7.3, 10.3, 10.9 Ex 8 Tue 13 May 8-10 D32 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 BDayTimePlaceReferences Q&A 1 Fri 4 April 15-17 D32 Ex 1, Ex 2, Lab 1 Q&A 2 Tue 15 April 15-17 D42 Ex 3, Ex 4, Lab 2 Q&A 3 Fri 25 April 13-15 D32 Ex 5, Ex 6, Lab 3 Q&A 4 Ex 7 Q&A 5 Tue 13 May 10-12 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.ContentExerciseReport 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.ContentExerciseReport 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
* 1208 Exam (pdf)
* 1205 Exam (pdf)
* 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.