Course title: Optimal Controllers and Observers
Number of credits (ECTS): 6
Weekly number of classes: 2+2+1+0
Prerequisite for enrollment of the subject: None
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.
Total available number of classes: 180
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.
|Huibert Kwakernaak, Raphael Sivan||Linear optimal control systems||Wiley Interscience||1972|
|Donald E. Kirk||Optimal Control Theory: An Introduction||Dover Publications||2004|
|Arthur E. Bryson||Applied Linear Optimal Control: Examples and Algorithms||Cambridge University Press||2002|
|P.N. Paraskevopoulos||Modern Control Engineering (Automation and Control Engineering)||CRC Press||2001|
|Robert F. Stengel||Optimal Control and Estimation||Dover Publications||1994|
|Daniel Liberzon||Calculus of Variations and Optimal Control Theory: A Concise Introduction||Princeton University Press||2012|