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Syllabus for

Academic year
ESS076 - Robust and nonlinear control  
Robust och olinjär reglering
 
Syllabus adopted 2018-02-13 by Head of Programme (or corresponding)
Owner: MPSYS
7,5 Credits
Grading: TH - Five, Four, Three, Fail
Education cycle: Second-cycle
Major subject: Automation and Mechatronics Engineering, Electrical Engineering
Department: 32 - ELECTRICAL ENGINEERING


Teaching language: English
Open for exchange students: Yes
Block schedule: C+

Course module   Credit distribution   Examination dates
Sp1 Sp2 Sp3 Sp4 Summer course No Sp
0107 Examination 5,0c Grading: TH   5,0c   30 Oct 2018 am H   07 Jan 2019 pm M   29 Aug 2019 am SB_MU  
0207 Laboratory 2,5c Grading: UG   2,5c    

In programs

MPEPO ELECTRIC POWER ENGINEERING, MSC PROGR, Year 2 (elective)
MPSYS SYSTEMS, CONTROL AND MECHATRONICS, MSC PROGR, Year 1 (compulsory elective)
MPSYS SYSTEMS, CONTROL AND MECHATRONICS, MSC PROGR, Year 2 (elective)
MPAUT AUTOMOTIVE ENGINEERING, MSC PROGR, Year 2 (elective)

Examiner:

Balazs Kulcsar

Replaces

ESS075   Nonlinear and adaptive control


Eligibility:


In order to be eligible for a second cycle course the applicant needs to fulfil the general and specific entry requirements of the programme that owns the course. (If the second cycle course is owned by a first cycle programme, second cycle entry requirements apply.)
Exemption from the eligibility requirement: Applicants enrolled in a programme at Chalmers where the course is included in the study programme are exempted from fulfilling these requirements.

Course specific prerequisites

A basic course in automatic control and familiarity with state space techniques (as taught in e.g. the course Linear control system design)

Aim

In this course we first purport to develop controllers that explicitly deals with uncertainty and disturbance. We start with linear time invariant and parameter dependent models and aim at designing robust controllers. Second, we introduce nonlinear dynamics and related controller design methods that covers a wide range and practically important class of systems. Application oriented methods are focused.

Learning outcomes (after completion of the course the student should be able to)

  • Understand signals and systems sizes and explain the limitations of nominal Linear
    Time Invariant (LTI) control methods.
  • Identify and describe the most important uncertainty phenomena for SISO and MIMO
    LTI dynamical systems;
  • Formulate robust control objectives and understand methods for calculating them.
  • Apply the theory of gain scheduled control to reach robust objectives.
  • Understand the limitations of uncertain linear or parameter scheduled control systems.
    Analyse the stability properties of nonlinear systems;
  • Apply a few methods for nonlinear control system design and to assess the performance
    of the resulting design;
  • Use software tools for analysis and synthesis of nonlinear control systems, and to
    present and motivate their solution

Content

The course consists of two main parts.
  • Goals with robust control design, examples. Linear Time Invariant
    zeros-poles. Vector and system norms. IO (SGT) and internal stability, SISO vs MIMO.
  • Uncertainty and robustness for SISO and MIMO system models. Nominal
    and robust stability and performance. Design trade-offs.
  • Robust controller design; H2, H. From full information to central H.
    Lyapunov stability. Linear
    Parametrically Varying (LPV) Control System design.
  • From LPV to nonlinear control design, examples
  • Common nonlinearities, stationary points and limit cycles, stability,
    Lyapunov's method, input/output stability, passivity; phase plane analysis. Nonlinear
    controllability, observability.
  • Relative degree, zero dynamics. Exact (Feedback) linearization.
    Back-stepping, passivation

Organisation

The course is organised as a number of lectures and problem sessions, and a mandatory project module, including analysis and design assignments.

Literature

(1) Sigurd Skogestad, Ian Postlethwaite: Multivariable Feedback Control: Analysis and Design
(2) Eduardo Sontag: Mathematical control Theory: deterministic finite dimensional systems





Examination including compulsory elements

Written exam with TH grading; project with assignments and laboratory sessions (pass/fail).


Published: Mon 28 Nov 2016.