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48882-01 - Lecture with practical courses: Introduction to optimal and robust control (5 CP)
| Semester | fall semester 2017 |
| Course frequency | Once only |
| Lecturers | Georg Rauter (georg.rauter@unibas.ch, Assessor) |
| Content | 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 |
| Learning objectives | 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. |
| Bibliography | 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 |
| Comments | There will be no lecture on 19th September and 24th October 2017. |
| Weblink | DBE |
| Admission requirements | Students should have prior knowledge on basic control theory. |
| Language of instruction | English |
| Use of digital media | No specific media used |
| Course auditors welcome |
| Interval | Weekday | Time | Room |
|---|
No dates available. Please contact the lecturer.
| Modules |
Doctorate Biomedical Engineering: Recommendations (PhD subject: Biomedical Engineering) |
| Assessment format | continuous assessment |
| Assessment details | 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. |
| Assessment registration/deregistration | Reg.: course registration; dereg.: teaching staff |
| Repeat examination | no repeat examination |
| Scale | Pass / Fail |
| Repeated registration | no repetition |
| Responsible faculty | Faculty of Medicine |
| Offered by | Departement Biomedical Engineering (DBE) |