Optimal Controllers and Observers

Објавено: June 28, 2022
1. Course Title Optimal Controllers and Observers
2. Code 4ФЕИТ01Л012
3. Study program КСИАР
4. Organizer of the study program (unit, institute, department) Faculty of Electrical Engineering and Information Technologies
5. Degree (first, second, third cycle) First cycle
6. Academic year/semester IV/8 7. Number of ECTS credits 6
8. Lecturer D-r Vesna Ojleska Latkoska
9. Course Prerequisites Passed: Systems Thinking
10. Course Goals (acquired competencies): 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 optimal control and estimation 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 processes 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.
11. Course Syllabus: Introduction to linear control systems: formulation of a control problem; Modern versus classical control theory; Linear state feedback control systems; Control law design for state feedback control systems; Conditions for pole assignment for good design; The basic optimal control problems; Mathematical preliminaries for solving optimal control problems; Solution of the deterministic linear optimal regulator problem; Solution of the linear optimal tracking problem; Regulators and tracking systems with nonzero set points and constant disturbances; Optimal linear reconstruction of the state; Full and reduce order observers; Optimal observers; The duality of optimal observer and optimal regulator; Optimal linear output feedback control systems; Reduce order optimal linear output feedback control systems.
12. Learning methods: Combined way of learning: lectures, supported by presentations, homework and auditory exercises, as well as practical laboratory exercises.
13. Total number of course hours 2 + 2 + 1 + 0
14. Distribution of course hours 180
15. Forms of teaching 15.1. Lectures-theoretical teaching 30
15.2. Exercises (laboratory, practice classes), seminars, teamwork 45
16. Other course activities 16.1. Projects, seminar papers 10
16.2. Individual tasks 10
16.3. Homework and self-learning 85
17. Grading 17.1. Exams 5
17.2. Seminar work/project (presentation: written and oral) 10
17.3. Activity and participation 5
17.4. Final exam 80
18. Grading criteria (points) up to 50 points 5 (five) (F)
from 51to 60 points 6 (six) (E)
from 61to 70 points 7 (seven) (D)
from 71to 80 points 8 (eight) (C)
from 81to 90 points 9 (nine) (B)
from 91to 100 points 10 (ten) (A)
19. Conditions for acquiring teacher’s signature and for taking final exam Regular attendance to the lectures and exercises, as well as successful and timely completion of all laboratory exercises.
20. Forms of assessment Two partial written exams are scheduled (at the middle and at the end of the semester, each with duration of 120 minutes), tests that are conducted during the classes, as well as homework and project assignments, which are presented/defended during the semester.
1. Students who have passed the partial exams are considered to have passed the final written exam. A final oral exam can also be scheduled, with duration up to 60 minutes. The final grade is formed based on the points from the partial written exams, the tests, the homework and the project assignments and the final oral exam (if scheduled).
2. In the planned exam sessions, a final written exam is taken (lasting 120 minutes). For students who have passed the final written exam, a final oral exam can also be scheduled (with duration up to 60 minutes). The final grade is formed based on the points from the final written exam, the tests, the homework and the project assignments and the final oral exam (if scheduled).
21. Language Macedonian and English
22. Method of monitoring of teaching quality Internal evaluation and surveys.
23. Literature
23.1. Required Literature
No. Author Title Publisher Year
1 Huibert Kwakernaak, Raphael Sivan Linear optimal control systems Wiley Interscience 1972
2 Donald E. Kirk Optimal Control Theory: An Introduction Dover Publications 2004
3 Arthur E. Bryson Applied Linear Optimal Control: Examples and Algorithms Cambridge University Press 2002
23.2. Additional Literature
No. Author Title Publisher Year
1 P.N. Paraskevopoulos Modern Control Engineering (Automation and Control Engineering) CRC Press 2001
2 Robert F. Stengel Optimal Control and Estimation Dover Publications 1994
3 Daniel Liberzon Calculus of Variations and Optimal Control Theory: A Concise Introduction Princeton University Press 2012