LEARNING OUTCOMES

The obejctive of the course is that of presenting the basic methodologies for the control of linear (time-invariant) multivariable systems. The course will start with a review of the basic concepts relevant to linear stystems, in continuous time and in discrete time. Then, optimal control methods (in continuous time and in discrete time) will be presented, along with a brief survey about predictive control approaches. The course will end with the treatment of some specific topics concerning linear multivariable control, as closed-loop pole assignment and feedback control based on state observers.

AIMS AND LEARNING OUTCOMES

At the end of the course, the students will be able to:

a) Build and analyze linear time-invariant multivariable system models.

b) Build optimal regulators for linear time-invariant multivariable systems, considering both continuous- and discrete-time representations.

c) Design regulators capable of ensuring a certain closed-loop dynamics, even in the case in wich the state of the system is not fully accessible.

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PREREQUISITES

Fundamentals of Linear System Theory and Classical Control Theory.

TEACHING METHODS

Lessons and computer exercises.

SYLLABUS/CONTENT

1-Basics on modeling and analysis of Linear Multivariable Systems (continuous-time)

2-Basics on modeling and analysis of Linear Multivariable Systems (discrete-time)

3-Optimal control problems for linear time-invariant systems.

4-Predictive control schemes.

5-Pole assignment and state observers.

6-Formulation of feedback control problems. Alternative approaches for control system synthesis.

RECOMMENDED READING/BIBLIOGRAPHY

H. Kwakernaak, R. Sivan - Linear Optimal Control Systems - Wiley 1972