Control Systems II

Objective

This course builds upon the LTI SISO systems modeling and control techniques learned in Control Systems I. It introduces students to modern computational techniques for control system design. Students will learn to design and implement state feedback controllers (e.g., LQR) and state estimators (e.g., Kalman filter), including their combination in LQG control. They will distinguish between SISO and MIMO systems and gain an introduction to nonlinear systems and Lyapunov stability. In the second part of the course, students will also learn how to formulate and solve optimal control problems for linear systems and design model predictive controllers for constrained linear systems.

Content

Digital Control, modal coordinates, controllability, observability, state feedback, LQR, Luenberger observer, Kalman filter, separation principle, LQG, MIMO systems, nonlinear systems, Lyapunov stability theory, basics on optimization theory, optimal control, model predictive control.

All documents for lectures and exercises, Q&A Forum
All lecture and exercise materials can be downloaded on Moodle.

Video recording
Lectures are video recorded and available on the ETH video portal.

Lecture
2 hours per week for 14 weeks. The first lecture starts on February 17.
There will be no lecture on April 7 (Easter break).

Exercises
2 hours per week for 14 weeks. The first exercise lesson begins on February 19. The weekly problem set will be posted on Moodle before the exercise lesson and the sample solution will be made available.
There will be no exercise lesson on April 9 (Ester break).

Prerequisites
Knowledge of the classical control theory (e.g. from the 151-0591-00 - Control Systems I course).

Language
Lecture and exercise lessons are in English

Literature
No textbook is required for the course. Suggested manuals for reference:

• Analysis and Synthesis of Single-Input Single-Output Control Systems, Lino Guzzella, vdf Hochschulverlag.
  
• S. Skogestad and I. Postlethwaite. Multivariable Feedback Control, Analysis and design, 2nd ed. John Wiley and Sons.
• Feedback Systems: An Introduction for Scientists and Engineers, Karl J. Åström and Richard M. Murray