Instructor: Dr Alireza Karimi, MER, Laboratoire d’Automatique, Station 9, EPFL, 1015 Lausanne. Tél: 021 693 5925.
Learning outcomes: Students will learn to design robust and adaptive controllers for uncertain and time-varying systems; They will be able to find the uncertainty model, specify the desired performance and compute a robust controller; They can design high performance digital controllers with two degrees of freedom and use them in an adaptive control scheme.
Content: Stability and performance of basic feedback loops. Model uncertainty, robust stability and performance, limit of performace. Robust loop shaping by convex optimization, H-infinity controller design. Multivariable decoupling controller design. Gain-scheduled controller design. Digital RST controller design by pole placement. Parameter adaptation algorithms. Direct, indirect and switching adaptive control.
Teaching method: Lectures, case study, practical works by the groups of students.
Prerequisites : Automatique or Control Systems (required) , System Identification (recommended)
- Feedback Control Theory, J. C. Doyle, B. A. Francis, A. R. Tannenbaum, McMillan Publ., New York 1992 (available online).
- Adaptive Control. Algorithms, Analysis and Applications, I. D. Landau, R. Lozano, M. M’Saad and A. Karimi, 2nd Edition, Springer 2011.
Course Notes: Robust and Adaptive Control by Alireza Karimi, Edition 2014.
- Feedback Systems – An Introduction for Scientists and Engineers, by K. J. Astrom, R. M. Murray, Princeton University Press, Princeton and Oxford, 2009.
- Tutorials for Matlab.