Introduction to the advanced control theory consisting of State-Space Control, Digital Control and Predictive Control. Additionally, the concept of optimization is introduced and the main aspects of different optimization problems and optimization solvers are taught.

Content of the Lecture

1. State-Space Control
1.1 Dynamic Systems in State-Space Representation
1.2 Solving State-Space Equations
1.3 Properties of State-Space Equations
1.4 State-Space Control via Pole Placement
1.5 State-Space Control via Optimization (LQ)
1.6 State Observer
1.7 State-Space Control with Observer (LQG)
1.8 Tracking
1.9 Reference Variable and Disturbance Model

2. Digital Control
2.1 Introduction
2.2 Brief Overview: Discrete-Time Systems
2.3 Stability of Discrete-Time Systems
2.4 Deadbeat Control
2.5 Adaptive Control

3. Optimization: Linear in the Parameters
3.1 Introduction
3.2 Linear Problems
3.3 Quadratic Problems

4. Predictive Control
4.1 Introduction to Predictive Control
4.2 Linear Predictive Control
4.3 Constraints in Predictive Control
4.4 Nonlinear Predictive Control

5. Optimization: Nonlinear in the Parameters
5.1 Search Algorithms
5.2 Gradient Method
5.3 Newton’s Method
5.4 Quasi-Newton-Method
5.5 Conjugate Gradient Method
5.6 Line Search
5.7 Nonlinear Problems with Constraints
5.8 Global Search Methods
5.9 Multi-Objective Optimization

Exam Instructions:

• A four-page formula sheet (two sheets printed double-sided, or four sheets printed single-sided) is permitted as an aid. It is recommended that you write out the formula sheet yourself.
• A calculator may be required for some problems.
• A set square may be required for some problems to measure angles.
• Exam tasks may be answered in English and German.

Software:

Matlab/Simulink is an important software tool in control engineering; it is therefore often used for examples in this course. Many of the necessary commands are included in an add-on called the Control System Toolbox. If you do not have access to Matlab or the aforementioned toolbox, we recommend the alternative software Scilab/Xcos, which can be downloaded for free from the Internet. The software has a very wide range of functions and covers all the areas necessary for this course. Furthermore, it is very similar to MATLAB/Simulink in terms of usage.

Contact:

M.Sc. Hermann Klein

M.Sc. Max Herkersdorf