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Institutionernas kurser för doktorander

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Kursplan för

Läsår
ESS076 - Nonlinear and adaptive control
 
Kursplanen fastställd 2010-02-22 av programansvarig (eller motsvarande)
Ägare: MPSYS
7,5 Poäng
Betygskala: TH - Fem, Fyra, Tre, Underkänt
Utbildningsnivå: Avancerad nivå
Huvudområde: Automation och mekatronik, Elektroteknik
Institution: 32 - ELEKTROTEKNIK


Undervisningsspråk: Engelska

Modul   Poängfördelning   Tentamensdatum
Lp1 Lp2 Lp3 Lp4 Sommarkurs
0107 Tentamen 5,0 hp Betygskala: TH   5,0 hp   24 Maj 2011 em M,  12 Jan 2011 em V,  26 Aug 2011 fm M
0207 Laboration 2,5 hp Betygskala: UG   2,5 hp    

I program

MPSYS SYSTEMS, CONTROL AND MECHATRONICS, MSC PROGR, Årskurs 1 (obligatorisk)
MPCAS COMPLEX ADAPTIVE SYSTEMS, MSC PROGR, Årskurs 2 (valbar)
MPEPO ELECTRIC POWER ENGINEERING, MSC PROGR, Årskurs 2 (valbar)

Examinator:

Professor Bo Egardt
Bitr professor Torsten Wik  Ansvarig: PA Beslutsdatum: 2011-03-22


Ersätter

ESS075   Olinjär och adaptiv reglering


Behörighet:

För kurser inom Chalmers utbildningsprogram gäller samma behörighetskrav som till de(t) program kursen ingår i.

Kursspecifika förkunskaper

A basic course in automatic control and familiarity with state space techniques (as taught in e.g. the SCM course Digital and multivariable control)

Syfte

The purpose of this course is to introduce fundamental techniques to solve industrial control problems, for which linear models are insufficient or difficult to obtain from physical data. The purpose of the course is also to introduce modern software tools to support the analysis and synthesis of nonlinear control systems.

Lärandemål (efter fullgjord kurs ska studenten kunna)

Understand and explain the limitations of linear control methods, and discuss the practical implications of this

Identify and describe the most important phenomena in nonlinear dynamical systems
Describe a few applications where nonlinear dynamics is an essential ingredient in the system design

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 solutions

Understand the basic principles for optimal and adaptive control and be able to solve simple problems

Innehåll

The course is comprised of three main blocks:
Analysis of nonlinear systems:
Common nonlinearities. Phase plane analysis. Stationary points and limit cycles. Stability. Lyapunov's method. Describing function.

Design of nonlinear control systems:
Gain scheduling. Synthesis using stability theory. Model predictive control. Exact linearization. Optimal control. Pontryagin's maximum principle. Bang-bang control. Hamilton-Jacobi-Bellman's equation.

Adaptive control:
Principles for adaptive control. Model reference adaptive systems. Separation of identification and control. Self-tuning regulators.

Organisation

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

Litteratur

To be decided

Examination

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


Sidansvarig Publicerad: må 13 jul 2020.