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• Lund University
• Faculty of Engineering
• Automatic Control

Control System Synthesis 2016

Schedule

Course start February 15, 2016, 13.15.  Scheduled dates are given below.

Organization

Lectures and exercises will be held by  Karl Johan Åström and Bo Bernhardsson. The course gives 10 ECTS credits (hp).

Prerequisities:

Basic control course, e.g. FRT010 Reglerteknik AK

• Contents

• L1. 15/2 13.15 Control System Design - A Perspective
• L2. 18/2 10.15 Requirements and Limitations
• L3. 22/2 13.15 Requirements and Limitations
• L4. 25/2 10:15 Loopshaping
• L5. 29/2 13.15 QFT Design
• L6. 3/3 10.15 Pole placement
• L7. 7/3 13.15 PID design
• L8 10/3 10.15 Bottom Up Design
• L9 14/3 13.15 Interaction
• L10. 17/3 10.15 LQG Design I
• L11. 21/3 13.15  LQG Design II
• L12.  31/3  13.15 Robust control, Hinfinity, Glover-McFarlane
• L13. 15/4 10.15  MPC and ILC
• L14. 24/5  9.00  Gain scheduling and Adaptive Control
• L15 25/5 13.15 Mini-lectures (x*15min):

 

Mixed h2hinf_Yang

IQCs_GustavN

RootLocus_Gautham

MIMOlimitations_Marcus_Josefine

ExtremumSeeking_Tommy_Victor

ControlSystemToolboxinJulia, FredriB_MattiasF

Mixed H2Hinf control, OlofT

About mini-lectures and projects

Exercises

• 19/2 10.15 Exercise 1
• 1/3 13.15 Exercise 2
• 8/3 13.15 Exercise 3
• 22/3 13.15 Exercise 4
• 1/4 13.15  Exercise 5
• 26/4 10.15 Exercise 6 You need the files quadtank.m ,  goldenratioex.m,  motorex6.m and aircglover.m

 

 

Handins

• Handin 1 - due 25/2
• Handin 2 - due 29/2 13.15  - you can use evaldesign.m evaldesign.jl to evaluate your design (delay margin not yet implemented in julia version).
• Handin 3 - due 8/3 13.15
• Handin 4 - due 24/3 13.15
• Handin 5 - due 6/4 13.15  use pend.m or pend.jl to get started, the julia version requires the latest version of the control toolbox, run Pkg.update()
• Handin 6 - due 13/4 13.15. Do exercise 2 (Hinfinity) or exercise 4  (GloverMcFarlane)

 

Literature and useful links

• Computer Control an overview
• Astrom and Murray, Feedback Systems
• Matlab files for the above
• Bode Lecture by Gunter Stein
• Bode Lecture by Gunter Stein (video)
• Calerga Sysquake Download
• QFTIT
• QFTCT
• MPCTools

  Additional Reading

  • Astrom and Hagglund, Advanced PID control, Instrument Society of America, 2006
  • Skogestad S., Postlewaite I., Multivarible feedbLateral Dynamics of Aeroplaneack control,
  • Maciejowski, Multivariable feedback design, Addison-Wesley 1989, ISBN 0-201-18243-2. The book is reported out of print. errata list (errata.ps)
  • D'Azzo, J., C. Houpis, Linear control system analysis and design, 3rd ed., McGraw Hill 1988, Ch 21.
  • Anderson, Moore, Optimal Control, Linear quadratic methods, 2nd ed, Prentice Hall 1990, Ch 8.
  • G F Franklin, J D Powell, A Emami-Naeini, Feedback control of Dynamical Systems, 2nd ed, Addison-Wesley 1991.
  • T. Glad and L. Ljung: Reglerteori. Flervariabla och olinjära metoder, Studentlitteratur, Lund, ISBN 91-44-00472-9, 512 pages, 1997.
  • K. Zhou and J. Doyle, Essentials of Robust Control , Prentice Hall, 1998
  • Goodwin, Salgado, Graebe, Control System Design, Prentice-Hall, 2000

  Examination

  The examination is through design problem handins with strict deadlines. Active participation in the exercise sessions are also expected.
  

  Credits

  The course gives 10p. Let us know if you want to add a mini synthesis project for more credits.
  

   

  Extra material

  Lec1

  • Design 1
  • Design 2
  • Raibert Hopper - youtube
  • Raibert Hopper Analysis
  • Big Dog - Boston Dynamics
  • Hopping Robot Analysis
  Lateral Dynamics of Aeroplane
  • A familiy of smooth controllers for swinging up a pendulum
  • Schuler Tuning
  • HVDC
  • Den Hartog's Vibration Damper
  • Ackermann's Decoupling Point
  • Snake Robots

  Lec5

  • QFTIT Design Tool
  • Template interactive generator tool

  Lecx

  • Doyle, Guaranteed Margins for LQG Regulators, IEEE TAC 1978

  Lecx

  • LQG-examples
  • Doyle and Stein, Robustness with Observers, IEEE TAC 1979
  • Doyle and Stein, Multivariable Feedback Design, IEEE TAC 1981

   

• Some ILC code

• Movie showing ILC convergence of marine vLateral Dynamics of Aeroplaneibrator

  
  

  Examples (and matlab code)

  • Lateral Dynamics of Aeroplane
  • Landau's Flexible Transmission
  • Thickness Control of a Rolling Mill
  • The ACC 1990 Benchmark(two masses and a spring)
  • Vertical Aeroplane Dynamics, AIRC, Mac. 4.4, 4.8 and 5.8
  • Aircraft with wind turbulence
  • Turbo-Generator, Mac. p 406
  • LQG-examples

   

  Control Synthesis 2010 - Home Page

  Material from the course in 1995 is collected in internal report TFRT-7540-SE.

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