Course overview
Preliminary schedule and contents
The course will run from Week 44 to Week 51 with two lectures / week, one exercise session and roughly one handin per week. There will be an optional mini-project after the course.
Examination:
Active participation on the exercise sessions and handins.
There are five handins and seven exercise sessions. The last exercise session is just a discussion of the last handin.
The exercises are meant to be solved before the session, and you will present your solutions during the session. Each solved problem gets you a mark. Mark your solved problems in this excel document: Solved Exercises Links to an external site.
The handins should be submitted on time. You get one "get out of jail" card that you can play should you not be able, for whatever reason, to complete one of the handins.
Lectures
| Wed 30/10 10:15 - 12:00, Seminar Room | Lecture 1: Intro |
| Mon 4/11 10:15 - 12:00, Seminar Room | Lecture 2: Requirements |
| Wed 6/11 10:15 - 12:00, M:E | Lecture 3: Loop analysis, fundamental limitations |
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Mon 11/11 10:15 - 12:00, Seminar Room Tue 12/11 13:15 - 15:00 (moved) |
Lecture 4: Loopshaping |
| Wed 13/11 10:15 - 12:00, Seminar Room | Lecture 5: Q&A session |
| Tue 19/11 13:15 - 15:00, Seminar Room | Lecture 6: QFT design |
| Wed 20/11 10:15 - 12:00, Seminar Room | Lecture 7: Pole placement |
| Mon 25/11 10:15 - 12:00, Seminar Room | Lecture 8: Control design principles, architectures, feedforward (Tore) |
| Wed 27/11 10:15 - 12:00, Seminar Room | Lecture 8: Control design principles, architectures, feedforward (Tore) |
| Wed 4/12 10:15-12:00, Seminar Room | Lecture 9 + 10 : MIMO + LQG-design part 1 |
| Thu 5/12 10:15 - 12:00, Seminar Room | Lecture 10: LQG-design part 2 |
| Mon 9/12 13:15 - 15:00, Seminar Room | Changed to an Exercise |
| Wed 11/12 10:15 - 12:00, Seminar Room | Lecture 12: Robust control, H-infinity, Glover-McFarlane |
| Mon 16/12 13:15 - 15:00, Seminar Room | Karl-Johan inspirational lecture |
| This will be skipped: | MPC, ILC, Gain scheduling, adaptive control and other advanced methods |
Handins
| Deadline 6/11 | Handin 1 |
| Deadline 19/11 | Handin 2 |
| Deadline 3/12 | Handin 3 |
| Deadline 12/12 | Handin 4 |
| Deadline 20/12 | Handin 5 |
Exercises
| Fri 8/11 10:15 - 12:00, Seminar Room | Exercise 1 |
| Fri 15/11 10:15 - 12:00, Seminar Room | Exercise 2 (Discuss handin 1) |
| Fri 22/11 10:15 - 12:00, Seminar Room | Exercise 3 |
| Thu 28/11 10:15 - 12:00, Seminar Room | Exercise 4 |
| Mon 9/12 13:15 - 15:00, Seminar Room | Exercise 5 (Discuss handin 3) note updated date! |
| Fri 13/12 10:15 - 12:00, Seminar Room | Exercise 6 (Discuss handin 4) |
| Wed 18/12 10:15 - 12:00, Seminar Room | Exercise 7 (Discuss handin 5) |
Reading list
We will bring up content from several books, and provide clearer reading instructions + extra articles along the way. Most of the material are covered in the union of the following books:
Feedback Systems: An introduction for Scientists and Engineers
Links to an external site., Karl Johan Åström and Richard Murray
Zhou, K., & Doyle, J. C. (1998). Essentials of robust control (Vol. 104). Upper Saddle River, NJ: Prentice hall.
Seron, M., Braslavsky, J. & Goodwin, G. (1997) Fundamental Limitations in Filtering and Control, (Springer)
Åström, K. & Hägglund, T. (2006). Advanced PID control, Instrument Society of America, 2006
Maciejowski, J. (1989) Multivariable feedback design, Addison-Wesley, ISBN: 0-201-18243-2
Anderson, B. & Moore, J. (1989) . Optimal Control, Linear quadratic methods, 2nd ed, Prentice Hall
Guzmán, J. & Hägglund, T. (2024) Feedforward Control: Analysis, design, tuning rules and implementation, ISBN: 978-3-11-142930-4, De Gruyter