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

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
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, 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