Robust and Optimal Control of Linear Systems
Mechanical Engineering
Institute of Natural and Applied Sciences
Third Cycle (Doctorate Degree)
| Course Unit Title | Course Unit Code | Type of Course Unit | Level of Course Unit | Year of Study | Semester | ECTS Credits |
|---|---|---|---|---|---|---|
| Robust and Optimal Control of Linear Systems | MMK573 | Elective | Doctorate degree | 1 | Fall | 10 |
Name of Lecturer(s)
Associate Prof. Dr. Fevzi Çakmak BOLAT
Learning Outcomes of the Course Unit
1) • Can use the modeling and analysis methods of Robust control systems.
2) • Can design H-infinity controller for linear control systems.
3) • Gain the ability to simulate control systems.
4) • To make use of modern techniques, skills and equipment in advanced engineering practice.
Program Competencies-Learning Outcomes Relation
| Program Competencies | ||||||||||||||
| 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | ||
| Learning Outcomes | ||||||||||||||
| 1 | High | Middle | Low | No relation | Middle | No relation | High | No relation | High | Middle | No relation | High | Low | |
| 2 | Middle | High | High | High | Middle | Middle | Low | Low | Middle | No relation | High | No relation | Low | |
| 3 | Low | Middle | High | Middle | Middle | No relation | High | Low | Low | Low | High | High | Middle | |
| 4 | Middle | High | Low | Low | High | Middle | Middle | High | Middle | High | Low | Middle | High | |
Mode of Delivery
Face to Face
Prerequisites and Co-Requisites
None
Recommended Optional Programme Components
Not Required
Course Contents
Examination of control system structure. Modeling of control system components. Block diagram operations. Giving the basics of Matlab program. Frequency shaping LQ design, Observer design, Observer based control, LQG Control, Kalman filter, LQG control design Norm concept, H-2 norm and its calculation, H-infinity norm and its calculation. Modeling of System Uncertainties, Total and product uncertainties, Modeling of Uncertainties in Mechanical Systems.
Weekly Schedule
1) Examination of control system structure. Modeling of control system components. Block diagram operations. Giving the basics of Matlab program2) Linear system definition. Obtaining the state space equation. Getting the transfer matrix. Transformation of state space equation. Solution of state space equation. Frequency response analysis.
3) System stability, General Lyapunov stability analysis, Lyapunov stability analysis of linear systems, Controllability, Controllability Gramian matrix, Measurability, Measurability matrix and Gramian.
4) State variable feedback control, Linear Quadratic Regulator (LQR), Solution of optimum control sample problems, Linear Quadratic Integrator (LQI)
5) Frequency shaping LQR design, Observer design, Observer based control, LQR Control, Kalman filter, LQG control design.
6) Concept of norm, H2 norm and calculation, H-infinity norm and calculation.
7) LFT approach, Modeling of parametric uncertainties, LFT extraction of parametric uncertainties, LFT Structure of Feedback Control System, Internal stability analysis.
8) Midterm
9) General system structure, Frequency shaping filters, Inclusion of frequency shaping filters in the general system structure.
10) H-infinity normu, Singüler Değerlere Ayırma, Küçük Kazanç Teoremi, Yapısal Olamayan Belirsizlikler ve Robust Kararlılık.
11) Loop Shaping, Mixing sensitivity problem.
12) H-infinity kontrol tasarımı, Kontrol tasarım örneği.
13) H-infinity control design examples, introduction to the algorithm used to calculate the H-infinity controller.
14) H-infinity control design examples, introduction to the algorithm used to calculate the H-infinity controller.
15) H-infinity control design project work.
16) Final Exam
Recommended or Required Reading
1- K. Zhou, J. Doyle, Essentials of Robust Control
Planned Learning Activities and Teaching Methods
1) Lecture
2) Question-Answer
3) Discussion
4) Modelling
5) Simulation
6) Problem Solving
7) Project Based Learning
Assessment Methods and Criteria
Contribution of Midterm Examination to Course Grade |
40% |
|---|---|
Contribution of Final Examination to Course Grade |
60% |
Total |
100% |
Language of Instruction
Turkish
Work Placement(s)
Not Required