Course syllabus for Robust and nonlinear control

The course syllabus contains changes
See changes

Course syllabus adopted 2020-02-01 by Head of Programme (or corresponding).

Overview

  • Swedish nameRobust och olinjär reglering
  • CodeEEN050
  • Credits7.5 Credits
  • OwnerMPSYS
  • Education cycleSecond-cycle
  • Main field of studyAutomation and Mechatronics Engineering, Electrical Engineering
  • DepartmentELECTRICAL ENGINEERING
  • GradingTH - Pass with distinction (5), Pass with credit (4), Pass (3), Fail

Course round 1

  • Teaching language English
  • Application code 35111
  • Block schedule
  • Open for exchange studentsYes

Credit distribution

0119 Examination 4 c
Grading: TH		4 c
  • 27 Okt 2020 pm J
  • 05 Jan 2021 pm J
  • 27 Aug 2021 am J
0219 Design exercise + laboratory 3.5 c
Grading: UG		3.5 c

In programmes

Examiner

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Eligibility

General entry requirements for Master's level (second cycle)
Applicants enrolled in a programme at Chalmers where the course is included in the study programme are exempted from fulfilling the requirements above.

Specific entry requirements

English 6 (or by other approved means with the equivalent proficiency level)
Applicants enrolled in a programme at Chalmers where the course is included in the study programme are exempted from fulfilling the requirements above.

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 and lab.

Literature

(1) S Skogestad, I Postlethwaite: Multivariable Feedback Control: Analysis and Design
(2) HK Khalil: Nonlinear systems. 

Examination including compulsory elements

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

The course syllabus contains changes

  • Changes to examination:
    • 2020-09-30: Grade raising No longer grade raising by GRULG
    • 2020-09-30: Grade raising No longer grade raising by GRULG
  • Changes to course rounds:
    • 2020-08-26: Block Block changed from D to C by lina haglund
      [Course round 1]