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2016/2017
Mechanical, Maritime and Materials Engineering
Master Systems and Control
SC42015
Control Theory
ECTS: 6
Responsible Instructor
Name
E-mail
T. Keviczky
T.Keviczky@tudelft.nl
Contact Hours / Week x/x/x/x
6/0/0/0
Education Period
1
Start Education
1
Exam Period
1
2
Course Language
English
Course Contents
- State-space description of multivariable linear dynamic systems, interconnections, block diagrams
- Linearization, equilibria, stability, Lyapunov functions and the Lyapunov equation
- Dynamic response, relation to modes, the matrix exponential and the variation-of-constants formula
- Realization of transfer matrix models by state space descriptions, coordinate changes, normal forms
- Controllability, stabilizability, uncontrollable modes and pole-placement by state-feedback
- LQ regulator, robustness properties, algebraic Riccati equations
- Observability, detectability, unobservable modes, state-estimation observer design
- Output feedback synthesis (one- and two-degrees of freedom) and separation principle
- Disturbance and reference signal modeling, the internal model principle
Study Goals
The student is able to apply the developed tools both to theoretical questions and to simulation-based controller design projects. More specifically, the student must be able to:
- Translate differential equation models into state-space and transfer matrix descriptions
- Linearize a system, determine equilibrium points and analyze local stability
- Describe the effect of pole locations to the dynamic system response in time- and frequency-domain
- Verify controllability, stabilizability, observability, detectability, minimality of realizations
- Sketch the relevance of normal forms and their role for controller design and model reduction
- Describe the procedure and purpose of pole-placement by state-feedback and apply it
- Apply LQ optimal state-feedback control and analyze the controlled system
- Reproduce how to solve Riccati equations and describe the solution properties
- Explain the relevance of state estimation and build converging observers
- Apply the separation principle for systematic 1dof and 2dof output-feedback controller design
- Build disturbance and reference models and apply the internal model principle
Education Method
Lectures and Exercise Sessions
Computer Use
The exercises will be partially based on Matlab in order to train the use of modern computational tools for model-based control system design.
Literature and Study Materials
B. Friedland, Control System Design: An Introduction to State-space Methods. Dover Publications, 2005
K.J. Astrom, R.M. Murray, Feedback Systems: An Introduction for Scientists and Engineers, Princeton University Press, Princeton and Oxford, 2009
http://www.cds.caltech.edu/~murray/amwiki/index.php?title=Main_Page
Assessment
Written mid-term examination (15%) and written final examination (85%). For the resit examination (January 2017) there will be a written examination (100%) for which the mid-term result will not count.
Remarks
Old Course Code: SC4025
Department
3mE Department Delft Center for Systems and Control