Control Systems II
Objective
This course builds upon the LTI SISO systems modeling and control techniques learned in Control Systems I. The course introduces state estimation and feedback, implementation challenges, multi-input multi-output systems, and the techniques to analyze and synthesize controllers for this class of systems.
Content
Introduction to Discrete-Time Systems, Diagonalization, Modal Coordinates, Reachability, Observability, State Feedback, Pole Placement, LQR, State Estimation, Luenberger observer, Kalman Filter, Separation Principle, LQG, Stability Margins, MIMO systems, Transmission Zeros, Vector Norms, Signal Norms, System Norms, Small Gain Theorem, Stability and Performance Robustness, Q-parameterization, H-infinity, Nonlinear 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 19.
There will be no lecture on April 23 (Easter break).
Exercises
2 hours per week for 14 weeks. The first exercise lesson begins on February 20. 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 24 (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