Control Systems (227-0103), Autumn 2018

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Organisation

Lecturer

Prof. Florian Dörfler
Automatic Control Laboratory
Dept. of Information Technology and Electrical Engineering
ETH Zurich,Switzerland.

Team

Ioan-Liviu Aolaritei
Annika Eichler
Adrian Hauswirth
Ashish Hota
Angeliki Kamoutsi
Alexandros Tanzanakis
Ilnura Usmanova
Suli Zou

Online teaching platform

The course updates shall be made available on the Moodle website accessible to all registered students. Some basic information about the course can be found below. Please take a look at the ETH course catalogue as well. The official course language will be English.

Prerequisities

Signal and Systems II (227-0046-10L) or equivalents, basic Matlab skills, as well as sufficient mathematical maturity. In case of doubt, please contact Prof. Dörfler.

Course Content

This is a control design course. I will assume you are familiar with open-loop system analysis in state space and frequency domain. We will briefly repeat all relevant concepts, but our focus will be on closing the loop.

Learning objectives: By the end of this lecture, you will know a variety of methods how to design optimal and robust controllers for linear single-input-single-output and multivariable systems. Topics covered in the course include

• modeling of dynamical systems and model conversions;
• system analysis in state space and frequency domain (stability, robustness, etc.);
• frequency-domain control design (PID, loop shaping, IMC, etc.);
• state-space control and observer design;
• optimal control and estimation (LQR an Kalman filter); and
• augmented control architectures (2-DOF, anti-windup, cascaded control, etc.).

Lecture Notes

We will mainly use the black board. Slides, supplementary note, cheat sheets, and exercises will be made available on the Moodle platform. There is no official textbook. We recommend the following books for self study:

• K. J. Aström & R. Murray. Feedback Systems: An Introduction for Scientists and Engineers. Princeton University Press, 2010.
• R. C. Dorf and R. H. Bishop. Modern Control Systems. Prentice Hall, New Jersey, 2007.
• G. F. Franklin, J. D. Powell, and A. Emami-Naeini. Feedback Control of Dynamic Systems. Addison-Wesley, 2010.
• J. Lunze. Regelungstechnik 1. Springer, Berlin, 2014.
• J. Lunze. Regelungstechnik 2. Springer, Berlin, 2014.

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