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MSc Advanced Control and Systems Engineering / Course details
Year of entry: 2024
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Course unit details:
Optimal & Robust Control
Unit code | EEEN60262 |
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Credit rating | 15 |
Unit level | FHEQ level 7 – master's degree or fourth year of an integrated master's degree |
Teaching period(s) | Semester 2 |
Available as a free choice unit? | No |
Overview
Optimal Control
- Quadratic Lyapunov functions for linear systems
- LQR (optimal state feedback) control
- Robustness of LQR control
- Kalman filter (optimal observers)
- LQG control (combining LQR state feedback and optimal observer)
- Loop transfer recovery
- Adding integral action
- H2 norms and H2 optimal control
Robust Control
Underpinning concepts:
- Singular value decomposition, the H-infinity norm and the H-infinity function space
- Well-posedness and internal stability of feedback interconnections
- Small-gain theorem
Uncertainty representations and robust stability analysis:
- Additive, multiplicative and inverse multiplicative uncertainty representations
- Linear Fractional Transformations (LFT) and LFT uncertainty representation
- Robust stability tests
Robust controller synthesis and robust control design methodology:
- Riccati based H-infinity control synthesis
- H-infinity loopshaping control design methodology
Pre/co-requisites
Unit title | Unit code | Requirement type | Description |
---|---|---|---|
EEEN64401 | Pre-Requisite | Compulsory | |
EEEN60109 | Pre-Requisite | Compulsory |
Aims
To introduce students to the fundamentals of LQG control
To introduce students to the fundamentals of robustness analysis, robust control law synthesis and robust control design
Learning outcomes
ILO1 - Define optimal behaviour for control systems.
ILO2 - Design of control systems based on optimal performance criteria.
ILO3 - Apply optimal control methods to systems from a variety of technological areas.
ILO4 - Design optimal estimators and use Kalman filters in fields outside control engineering.
ILO5 - Define optimal estimation of a stochastic system.
ILO6 - Analyse the robustness of a feedback control system.
ILO7 - Design of control systems based on robustness criteria.
ILO8 - Define the robustness of a control system using h-infinite norm.
ILO9 - Design controllers for systems when accurate mathematical models are unavailable.
Assessment methods
Method | Weight |
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Other | 20% |
Written exam | 80% |
Feedback methods
.
Recommended reading
Optimal Control. Lewis, Frank L. John Wiley & Sons 2012
Multivariable feedback control : analysis and design. Skogestad, Sigurd. John Wiley, 2005
Linear optimal control Anderson, Brian D. O. Prentice-Hall, 1971
Design of feedback control systems. Stefani, Raymond T. Oxford University Press, 2002
Modern Control Engineering Ogata, K ; Brewer, J. W Journal of dynamic systems, measurement, and control, 1971
Multivariable feedback design Maciejowski, J. M. Addison-Wesley, 1989
Essentials of robust control Zhou, Kemin. Prentice Hall 1998
Robust and optimal control Zhou, Kemin. Prentice Hall 1996
Control theory and design : an RH₂ and RH [infinity] viewpoint Colaneri, Patrizio. Academic Press, 1997
Linear robust control Green, Michael. Prentice Hall 1995
Study hours
Scheduled activity hours | |
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Lectures | 30 |
Practical classes & workshops | 8 |
Tutorials | 3 |
Independent study hours | |
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Independent study | 109 |
Teaching staff
Staff member | Role |
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Zhengtao Ding | Unit coordinator |
Guido Herrmann | Unit coordinator |