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Optimal controllers and state estimators

Course title: Optimal controllers and state estimators

Code: FEIT01Z019

Number of credits (ECTS): 6

Weekly number of classes: 2+2+1+0

Prerequisite for enrollment of the subject: None

Course goals/Competences: One of the main objectives of the course is student to gain knowledge for design of controllers, using the modern control techniques. Another objective of the course is to make available the principal results of the theory of estimation and control to a wide segment of the scientific and technological society. In that manner the student will become eligible to solve problems for control of different process and systems, in view of the fact that estimation is the first step in implementation of a control input, i.e. it is necessary to extract the knowledge for the system behavior before implementing the effective control.

Total available number of classes: 180

Curriculum: Introduction to linear control systems: Formulation of a control problem (formulation of a tracking and regulator problems; formulation of terminal control problems); Example of a positioning servo system; Position control as a terminal control problem; Closed loop controllers: the basic design objectives; The stability of control systems; The steady-state analysis of the tracking properties; The transient analysis of the tracking properties; The effects of disturbances, observation noise and plant parameter uncertainty in the single-input single-output case. Optimal linear state-feedback control systems: stability improvement of linear systems by state-feedback; the deterministic linear optimal regulator problem; Steady-state solution of the deterministic linear optimal regulator problem; stochastic linear optimal regulator and tracking problems; Regulators and tracking systems with nonzero set points and constant disturbances; asymptotic properties of time-invariant optimal control laws.



Compulsory literature







Huibert Kwakernaak, Raphel Sivan

Linear Optimal Control Systems




Graham Goodwin, MarĂ­a M. Seron

Constrained Control and Estimation: An Optimisation Approach (Communications and Control Engineering)

Springer; Softcover reprint of hardcover



Frank Lewis

Applied Optimal Control and Estimation; Digital Design and Implementation

Prentice Hall; Facsimile edition