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48882-01 - Vorlesung mit Übungen: Optimal and robust control 5 KP

Semester Frühjahrsemester 2019
Angebotsmuster Jedes Frühjahrsem.
Dozierende Georg Rauter (georg.rauter@unibas.ch, BeurteilerIn)
Inhalt The lecture aims at introducing common methods for robust and optimal control such as H-infinity and Kalman filters. Additionally, the course will provide an excursion to real-time optimisation.

During the first four lectures, a fast update on basic control theory will be provided based on courses available at TU-Graz (see lecture literature). Then, the advanced topics in optimal and robust control will be discussed.
19. September: no lecture
27. September 2017: Control Systems 1 (Introduction to control systems, LTI continuous systems, Laplace-transform, cascade systems, asymptotic stability of time continuous systems, BIBO stability of time continuous systems)
4. October 2017: Control Systems 1 (BODE diagram, Nyquist curves, Nyquist criterium, control design
11. October 2017: Control Systems 1 (standard controllers such as PID, common methods to for controller tuning, Time discrete systems, Z-tansform, analytical control synthesis)
18. October 2017: Control Systems 2 (controllability and observability of discrete and time continuous systems, asymptotic and BIBO stability of time discrete systems)
24. October: no lecture
31. October: Control Systems 2 (Design methods, Luenberger observer), Linear Quadratic Regulator, derivation of Kalman Filter
7. November: Kalman filter, applications, parameter selection, practical exercises with Matlab/Simulink
14. November: extended Kalman filter, applications, parameter selection, practical exercises with Matlab/Simulink
21. November: Robust control: H-infinity, applications, practical exercises with Matlab/Simulink
28. November:
5. December: Observer for sensorless control from Onishi and Kato, applications, practical exercises with Matlab/Simulink
12. December: Introduction to optimal control
19. December: Real-time optimization using FiOrdOs, applications, practical exercises with Matlab/Simulink
Lernziele The goal is to make students aware of a viariaty of different control pricnciples, their advantages and disadvantages. The knowledge should be supported by practical examples tested in Matlab/Simulink.
Literatur Control Systems 1 (IRT at TU-Graz, Austria)
https://www.tugraz.at/institute/irt/lehre/ergaenzende-informationen/control-systems-1/

Control Systems 2 (IRT at TU-Graz, Austria)
https://www.tugraz.at/institute/irt/lehre/ergaenzende-informationen/control-systems-2/

Hans Peter Geering, Regelungstechnik: Mathematische Grundlagen, Entwurfsmethoden, Beispiele, Springer

Hans Peter Geering, Optimal Control with Engineering Applications, Springer

FiOrdOs http://fiordos.ethz.ch/dokuwiki/doku.php

T. Murakami, F. Yu, and K. Ohnishi, “Torque sensorless control in
multidegree-of-freedom manipulator,” IEEE Transactions on Industrial
Electronics, vol. 40, no. 2, pp. 259–265, 1993.

A. Kato and K. Ohnishi, “Robust force sensorless control in motion
control system,” 9th IEEE International Workshop on Advanced Motion
Control, 2006., pp. 165–170, 2006.

J. C. Hsu, A. U. Mayer, Modern Control Principles and Applications, McGraw Hill, New York, 1968

M. Athans, P. L. Falb, Optimal Control, McGraw Hill, New York, 1966

M. Papageorgiou, Optimierung, Oldenbourg Verlag, München, 1991

O. Föllinger, Optimierung dynamischer Systeme - eine Einführung für Ingenieure, R. Oldenbourg Verlag, München, 1985

Dimitri P. Bertsekas, Dynamic Programming and Optimal Control, Athena Scientific
Bemerkungen There will be no lecture on 19th September and 24th October 2017.

 

Teilnahmebedingungen Students should have prior knowledge on basic control theory.
Unterrichtssprache Englisch
Weblink DBE
Einsatz digitaler Medien kein spezifischer Einsatz
HörerInnen willkommen

 

Intervall wöchentlich
Datum 19.02.2019 – 28.05.2019
Zeit Dienstag, 10.30-13.15 Gewerbestrasse 14, Vorlesungsraum DBE 14.03.002

Keine Einzeltermine verfügbar, bitte informieren Sie sich direkt bei den Dozierenden.

Module Doktorat Biomedizinische Technik: Empfehlungen (Promotionsfach Biomedizinische Technik)
Modul: Biomaterials Science and Nanotechnology (Masterstudium Biomedical Engineering)
Modul: Image-Guided Therapy (Masterstudium Biomedical Engineering)
Leistungsüberprüfung Leistungsnachweis
Hinweise zur Leistungsüberprüfung The students will have to hand in homework for the lectures until the end of the semester. 80% of the homework should be evaluated positive.
An-/Abmeldung zur Leistungsüberprüfung An-/Abmelden: Belegen resp. Stornieren der Belegung via MOnA
Wiederholungsprüfung eine Wiederholung, bester Versuch zählt
Skala 1-6 0,5
Wiederholtes Belegen beliebig wiederholbar
Zuständige Fakultät Medizinische Fakultät
Anbietende Organisationseinheit Departement Biomedical Engineering (DBE)

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