Control Systems II

Abstract

For SISO systems: Controller design (PID, cascades, predictors, numerical methods), compensation of nonlinearities, controller realization. For MIMO systems: Design of state feedback controllers, state observers and observer-based controllers in time domain, in particular LQR and LQG approaches. Robustness analysis and approaches for robustness recovery. Controller design in frequency domain.

Objective

Part I: The students are able to design and implement effective SISO controllers and to compensate the most important nonlinearities. Part II: The students understand the differences between SISO and MIMO control systems and can apply the most important analysis and synthesis methods for MIMO control loops.

Content

Part I: More effective design methods for SISO controllers (PID, cascaded control loops, predictors, numerical methods). Compensation of the most important nonlinearities. Controller realization with analog and digital elements. Part II: Extension of the basic SISO ideas (time and frequency domain, controllability, observability, eigenvalues, poles, zeros, frequency response, etc.) to MIMO systems. Design of state feedback controllers in time domain, in particular LQR approaches. Design of state observers and observer-based controllers with state feedback, in particular LQG approaches. Robustness analysis for MIMO control loops and approaches to increase robustness. Outlook to controller design in frequency domain. Several case studies.

Resources