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MSc Advanced Control and Systems Engineering / Course details
Year of entry: 2023
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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
BRIEF DESCRIPTION OF THE UNIT
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 |
---|---|---|---|
Control Fundamentals | EEEN64401 | Pre-Requisite | Compulsory |
State-Space and Multivariable Control | EEEN60109 | Pre-Requisite | Compulsory |
Aims
This course unit detail provides the framework for delivery in 2020/21 and may be subject to change due to any additional Covid-19 impact. Please see Blackboard / course unit related emails for any further updates.
The course unit aims to:
- Introduce students to the fundamentals of LQG control
- Introduce students to the fundamentals of robustness analysis, robust control law synthesis and robust control design
Learning outcomes
Students will be able to:
Knowledge and understanding
- Demonstrate knowledge of optimal control theory
- Analyse robustness of systems
- Understand how robust controllers are synthesised
- Design robust controllers
Intellectual skills
- Design controllers using optimal control theory
- Develop skills useful in controlling systems when accurate mathematical models are unavailable
Practical skills
- Apply optimal control methods to systems from a variety of technological areas
- Learn design methods that can be used in developing controllers for practical systems
Transferable skills and personal qualities
- Use the Kalman filter in fields outside control engineering
- Understand how to use the methods in application
Assessment methods
Method | Weight |
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Other | 20% |
Written exam | 80% |
Feedback methods
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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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Guido Herrmann | Unit coordinator |
Joaquin Carrasco Gomez | Unit coordinator |