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Lecturer(s)
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Goubej Martin, Doc. Ing. Ph.D.
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Course content
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1. Multivariable systems - dynamics with multiple inputs and outputs, interactions, basic control structures. Robust controller - key issues, sources of uncertainty in feedback loops, history of robust control 2. Modelling and analysis of MIMO systems (multiple-input-multiple-output) 3. State and output feedback 4. Quadratic optimal control - LQR/LQG 5. Affine parameterization of stabilizing controllers 6. Decentralised (multi-loop) control - elimination and reduction of interactions, decoupling compensators 7. H2 and H-infinity optimization 8. Modelling of uncertainty in dynamic systems 9. Robust analysis and synthesis 10. Practical implementation of complex controllers 11. Utilization of Matlab software in MIMO and robust control design problems
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Learning activities and teaching methods
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One-to-One tutorial, Laboratory work, Task-based study method, Lecture
- Preparation for comprehensive test (10-40)
- 10 hours per semester
- Graduate study programme term essay (40-50)
- 40 hours per semester
- Preparation for an examination (30-60)
- 45 hours per semester
- Contact hours
- 39 hours per semester
- Practical training (number of hours)
- 26 hours per semester
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| prerequisite |
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| Knowledge |
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| dispose of fundamental knowledge of mathematical analysis |
| dispose of fundamental knowledge of linear algebra |
| dispose of fundamental knowledge of physics |
| dispose of fundamental knowledge of computing systems |
| dispose of fundamental knowledge of analysis and synthesis of linear time-invariant systems |
| Skills |
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| work independently in Matlab and Simulink systems |
| employ classic and modern methods of control engineering for single input single output (SISO) linear systems |
| Competences |
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| N/A |
| learning outcomes |
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| Knowledge |
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| analyse properties of linear time-invariant multivariable systems |
| formulate and solve robust control problems |
| employ classic and modern control engineering methods and algorithms for the design of multivariable control systems |
| Skills |
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| apply fundamental methods of robust and multivariable control |
| perform analysis of dynamic models of real systems |
| utilize analytical and numerical methods for robust control design with applications to both single and multivariable systems in time and frequency domains |
| utilize Matlab/Simulink software tools for the synthesis of robust controllers |
| apply achieved knowledge in practical control design problems |
| Competences |
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| N/A |
| teaching methods |
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| Knowledge |
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| Task-based study method |
| One-to-One tutorial |
| Interactive lecture |
| Self-study of literature |
| Skills |
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| Task-based study method |
| Practicum |
| Competences |
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| Skills demonstration |
| Practicum |
| Self-study of literature |
| assessment methods |
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| Knowledge |
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| Oral exam |
| Written exam |
| Seminar work |
| Skills |
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| Seminar work |
| Skills demonstration during practicum |
| Competences |
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| Seminar work |
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Recommended literature
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K. Zhou, J. C. Doyle. Essentials of Robust Control. Prentice Hall, 1997. ISBN 9780135258330.
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K.J. ?ström, R.M. Murray. Feedback systems. Princeton University Press, 2012. ISBN 9781400828739.
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S. Skogestad. Multivariable Feedback Control.
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