Course objectives:
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The goal of this course is to expose students to modelling, analysis and control of multivariable systems (MIMO - multiple-input-multiple-output) and extend knowledge of control engineering methods from previous classes with a specific focus to robust control of linear systems under uncertainty. The first half of the course introduces classic techniques of modelling, analysis and control synthesis for multivariable systems. Second half deals with robust control topics. Software tools of Matlab system suitable for applications in practical problems are presented and students learn to employ them in a semestral work.
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Requirements on student
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To obtain the credits, an inspection test and elaboration of seminar work are required.
For the final exam, the understanding and ability to apply the course topics are required.
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Content
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1. Multivariable systems - dynamics with multiple inputs and outputs, interactions, basic control structures. Robust controller - key issues, sources of uncertainty in feedback loops, history of robust control
2. Modelling and analysis of MIMO systems (multiple-input-multiple-output)
3. State and output feedback
4. Quadratic optimal control - LQR/LQG
5. Affine parameterization of stabilizing controllers
6. Decentralised (multi-loop) control - elimination and reduction of interactions, decoupling compensators
7. H2 and H-infinity optimization
8. Modelling of uncertainty in dynamic systems
9. Robust analysis and synthesis
10. Practical implementation of complex controllers
11. Utilization of Matlab software in MIMO and robust control design problems
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Activities
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Fields of study
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Studentům je k dispozici kurz v Google Classroom se všemi podstatnými informacemi a materiály.
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Guarantors and lecturers
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Literature
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Time requirements
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All forms of study
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Activities
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Time requirements for activity [h]
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Preparation for comprehensive test (10-40)
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10
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Graduate study programme term essay (40-50)
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40
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Practical training (number of hours)
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26
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Contact hours
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39
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Preparation for an examination (30-60)
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45
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Total
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160
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Prerequisites
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Knowledge - students are expected to possess the following knowledge before the course commences to finish it successfully: |
dispose of fundamental knowledge of mathematical analysis |
dispose of fundamental knowledge of linear algebra |
dispose of fundamental knowledge of physics |
dispose of fundamental knowledge of computing systems |
dispose of fundamental knowledge of analysis and synthesis of linear time-invariant systems |
Skills - students are expected to possess the following skills before the course commences to finish it successfully: |
work independently in Matlab and Simulink systems |
employ classic and modern methods of control engineering for single input single output (SISO) linear systems |
Competences - students are expected to possess the following competences before the course commences to finish it successfully: |
N/A |
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Learning outcomes
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Knowledge - knowledge resulting from the course: |
analyse properties of linear time-invariant multivariable systems |
formulate and solve robust control problems |
employ classic and modern control engineering methods and algorithms for the design of multivariable control systems |
Skills - skills resulting from the course: |
apply fundamental methods of robust and multivariable control |
perform analysis of dynamic models of real systems |
utilize analytical and numerical methods for robust control design with applications to both single and multivariable systems in time and frequency domains |
utilize Matlab/Simulink software tools for the synthesis of robust controllers |
apply achieved knowledge in practical control design problems |
Competences - competences resulting from the course: |
N/A |
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Assessment methods
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Knowledge - knowledge achieved by taking this course are verified by the following means: |
Oral exam |
Written exam |
Seminar work |
Skills - skills achieved by taking this course are verified by the following means: |
Seminar work |
Skills demonstration during practicum |
Competences - competence achieved by taking this course are verified by the following means: |
Seminar work |
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Teaching methods
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Knowledge - the following training methods are used to achieve the required knowledge: |
Task-based study method |
One-to-One tutorial |
Interactive lecture |
Self-study of literature |
Skills - the following training methods are used to achieve the required skills: |
Task-based study method |
Practicum |
Competences - the following training methods are used to achieve the required competences: |
Skills demonstration |
Practicum |
Self-study of literature |
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