Advanced Control Engineering

Lecture-No.:

105121 / 105122 / L.104.52270 / L.104.52470

Type of course:

Lecture (2 SWS), exercise (1 SWS)

Schedule:

The event takes place in the winter term.

Current schedule of events will be announced in Paul.

Target group:

Students of mechanical engineering, electrical engineering, technomathematics, industrial computer sciences, computer sciences, Master.

Requirements / foundation:

Control Engineering, recommended: Modelling in Mechatronics

Content:

1. Introduction: State-space description and design of state-feedback controllers by pole placement
2. Controllability and observability, definition and criteria (Kalman, Gilbert, and Hautus)
3. Complete modal synthesis
4. Controller design by minimizing a quadratic performance index (LQ-optimal contronl, Riccati controller)
5. Zeros and relative degree of MIMO systems
6. State feedback controller design by reference decoupling
7. State observers
8. Structures of state-space control(output feedback, MIMO PI-controler, dynamic feedback, model-based feedback control and feed-forward compensation, internal-model principle)
9. State-space controller design by multi-objective optimisation

Objectives:

This lecture is a follow-up to the lecture on Control Engineering. Based on the state-space desciption of dynamic systems, methods for analysis and synthesis of complex control systems will be taught, with special focus on multi-input-multi-output (MIMO) systems.

Text books / further reading:

• Otto Föllinger: "Regelungstechnik"
• Further bibliographical references to be found in the lecture handouts.