AIMS AND CONTENT

LEARNING OUTCOMES

Development of control techniques based on the minimization of cost functional LQR/LQT/LQG also relying on the identification/estimation theory

AIMS AND LEARNING OUTCOMES

Students will learn the basis of optimal control in different application contexts. They will be able to implement a quadratic controller to stabilize a linear system and to track a state trajectory both in the deterministic case and in the stochastic one. They will also learn suitable optimal control methods for nonlinear systems and uncertain ones.

TEACHING METHODS

The course consists of classroom lectures and PC-assisted demonstrations

SYLLABUS/CONTENT

-Introduction to cotimal control

-the principle of optimality

-linear quadratic optimal control: regulation and tracking

-presence of disturbances: LQG contol

-receding horizon control

-optimal control for nonlinear systems

-uncertain systems, state augmentation, connections with identification

-introduction to “maximum information gain” control

-introduction to machine learning methods for optimal control

RECOMMENDED READING/BIBLIOGRAPHY

A. Bryson and Y-C Ho. Applied Optimal Control: Optimization, Estimation, and Control. Abingdon, UK: Taylor & Francis.

Y. Bar-Shalom, X. R. Li, T. Kirubarajan, “Estimation with Applications to Tracking and Navigation”, John Wiley & Sons

Further readings will be given by lecturer.

TEACHERS AND EXAM BOARD

Exam Board

MARCO BAGLIETTO (President)

GIOVANNI INDIVERI

GIORGIO CANNATA (President Substitute)

LESSONS

Class schedule

The timetable for this course is available here: Portale EasyAcademy

EXAMS

EXAM DESCRIPTION

Oral exam with discussion of optimal controlmethods and possible applications.

Students with learning disorders ("disturbi specifici di apprendimento", DSA) will be allowed to use specific modalities and supports that will be determined on a case-by-case basis in agreement with the delegate of the Engineering courses in the Committee for the Inclusion of Students with Disabilities.

ASSESSMENT METHODS

The students will be evaluated on the basis of their capability to describe optimal control algorithms, to choose suitable methods depending on the application context and to discuss the computational complexity of the methods and their implementation.

Exam schedule