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151-0590-00L 4 Credits BSC D-MAVT

Control Systems II

Lecturers & Examiners: Prof. Dr. Melanie Zeilinger, Prof. Dr. Emilio Frazzoli, Dr. Andrea Carron, Dr. Dejan Milojevic
Note: The previous course title in German until FS22 "Regelungstechnik II".
VVZ CR n/a

Last Updated: 2026-06-03 00:14:35

Abstract

This course builds upon the modeling and control of LTI SISO systems introduced in Control Systems I. It extends these foundations with state feedback and estimation, multi-input multi-output (MIMO) systems, nonlinear control, optimization, optimal control and model predictive control (MPC) for constrained linear systems.

Objective

The course 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.

Resources

Lecture Notes

Lecture notes will be available on the Moodle page of the course.

Literature

No textbook is required for the course. References to the literature will be provided during the course.

Learning Materials (Links)

General Information

Language
English
Levels
BSC
Frequency
Yearly recurring

Examination

Type
session examination
Mode
written 150 minutes
Aids
No computers, tablets, smartphones, or calculators allowed. A single-sheet, 2-side, A4 “cheat sheet” is allowed.

Course Components

Type Title Time & Place Hours
lecture Control Systems II
  • Tue 12:15-14:00 (HG F 7)
2 h weekly
exercise Control Systems II
  • Thu 12:15-14:00 (CAB G 51)
  • Thu 12:15-14:00 (HG D 5.2)
  • Thu 12:15-14:00 (ML F 36)
2 h weekly

Offered In