# FRTN15/FRTN15F Predictive Control

Syllabus | CEQ | Schedule |

### News

Frequently asked questions are collected here: FAQ

### Personnel 2017

#### Lectures:

- Rolf.Johansson@control.lth.se (tel. 046-222 8791, office M:5147).

#### Problem solving sessions and labs:

- Gabriel Ingesson (tel. 046-222 8793, Gabriel@control.lth.se,

M:2209) - Pontus Giselsson (tel. 046-222 9744, PontusG@control.lth.se, M:2170B
- Gustav Nilsson (Gustav.Nilsson@control.lth.se, tel. 046-222 1570, M:2427)

#### Recommended Prerequisites:

Automatic Control (FRT010), some background in discrete-time signals and systems.#### Course Material

- Course Program 2017
- Lecture notes: Predictive and Adaptive Control, Fall Semester 2013 (R. Johansson) is available through KFS.
- Additional reading for interested: K J Åström and B Wittenmark, Adaptive Control, Second Edition, Dover 2008
- Lab manuals, exercises and solutions are available below.

#### Lectures

Lectures will be held in M:E on Tuesdays 10.15–12.00 and Thursdays 13.15–15.00; Wednesdays Jan 18 and Jan 25 at 13.15–15.00 in the seminar room of Dept. Automatic Control (M:2112B ) according to the schedule:Week | Date | No | Contents | Ref. |

3 | 17/1 | L1 | Introduction. Signals & Systems. Real-time Parameter Estimation. | Ch. 1, 2 |

18/1 | L2 | Automatic Tuning, Gain Scheduling, Auto-calibration. | ||

19/1 | L3 | ARMAX models. Pole assignment Model Matching. Optimal Control. | ||

4 | 24/1 | L4 | Pole Assignment. Model matching. Disturbance Models. | |

25/1 | L5 | Optimal Prediction. Optimal Predictive Control. The Kalman Filter. | ||

26/1 | L6 | Adaptive Control | ||

5 | 31/1 | L7 | Adaptive Control. | |

2/2 | L8 | Model Predictive Control (MPC) | ||

6 | 7/2 | L9 | Iterative Learning Control (ILC). Iterative Feedback Tuning (IFT). | |

9/2 | L10 | More Model Predictive Control | ||

7 | 14/2 | L11 | Stability: Lyapunov Theory. | |

16/2 | L12 | Stability: Input-Output Stability. Passivity. | ||

9 | 28/2 | L13 | Stochastic Adaptive Control | - |

2/3 | L14 | Implementation. Applications. Summary. Hour for Questions. |
- |

Copies of the lecture slides are available here (the username is "control", you'll also need the fun password mentioned at the lecture).

### Some Matlab Code etc

- ex0.m (Stochastic system, Lecture 2)
- ex1.m (Correlation and Covariance, Lecture 2)
- design1.m (Polynomial design Lecture 4)
- predictor.m (Optimal d-step aheap prediction, Lecture 4)
- Lec5.zip (All matlab code used in Lecture 5, incl the useful rstd.m and dab.m)
- Lec6.zip (All matlab code used in Lecture 6)
- Lec7.zip (All matlab code used in Lecture 7)
- Lec8.zip (All matlab code used in Lecture 8)
- MPC TOOLS manual (used in Lecture 10)
- MPC Tools (including the Quad tank and Helicopter examples in Lecture 10)
- Lec11.zip (ILC code used in Lecture 11)

### Exercises

LP3 Fridays 10.15-12.00 in M:X2b:- Gabriel Ingesson (tel. 046-222 8793, Gabriel@control.lth.se, M:2209)

Contents | |||

3 | 20/1 | E1 | Simulation of Adaptive Systems. Notice simulation session in Lab B! |

4 | 29/1 | E2 | Real-Time Parameter Estimation. |

5 | 3/2 | E3 | Optimal Prediction. Optimal estimation. Kalman filter. |

6 | 10/2 | E4 | Adaptive Control. |

7 | 17/2 | E5 | Model Predictive Control |

8 | 24/2 | E6 | Iterative Learning Control (ILC)+additional |

9 | 3/3 | E7 | Stability of Adaptive Schemes, Exam questions |

#### Exercise Materials

- Exercise 1 Notice that this computer exercise is held in Lab C.
- Exercise 2 and solutions
- Exercise 3 and solutions
- Exercise 4 and solutions
- Exercise 5 and solutions
- Exercise 6 and solutions
- Exercise 7: Old Exams (see below) and Questions

### Laboratory sessions

Lab | Time | Contents | Responsible | Phone | Office |

Lab 1 | w.5 | Autotuning and Gain Scheduling | Gustav Nilsson | 046 222 1570 | M:2427 |

Lab 2 | w.7 | Adaptive Control | Gabriel Ingesson | 046 222 8793 | M:2209 |

Lab 3 | w.8 | Predictive Control | Gabriel Ingesson | 046 222 8793 | M:2209 |

#### Laboratory Materials

- Lab 1. Autotuning and Gain Scheduling, Lab files, Sign up for Lab 1 (Sign-up before Jan 30)
- Lab 2. Adaptive Control, Preparation files, Lab files, Sign up for Lab 2(Sign-up starts Tuesday 7/2 12:00, sign up at least one day in advance)
- Lab 3. Predictive Control, Lab files, MPC Tools, Sign up for Lab 3 (Sign-up between Feb 13 and Feb 20)

### Exam

Tuesday, March 14, at 8-13 in M:L1, M:L2.

### Old Exams

- March 2017 problems and solutions, the exam will be displayed Thursday, March 30 in Lab F, 12.30 -13.00

- May 2016 problems and solutions
- March 2016 problems and solutions
- October 2013
- October 2011 and Solutions

### Home Work Assignments

Please send your solutions by the deadlines to the emails mentioned in the handins. Please use PDF-format when possible. Homework should be handed in individually. Reasonable cooperation is allowed (but not copying other persons handins...).

- Home Work 1—Signals and Systems.

Sampling Notes.

Deadline February 5, 2017. Responsible: Gabriel Ingesson

- Home Work 2—Adaptive Control.

Software Tools, Adaptlib Notes, Sampling Notes.

Deadline February 12, 2017. Responsible: Pontus Giselsson

- Home Work 3—Model Predictive Control (MPC). Deadline February 26, 2017. Responsible: Gabriel Ingesson

### Projects

The projects will be done individually or in small groups of 2-4 students. A list of project proposal can be found in the project list. You should sign up for a project no later than Friday, February 26. The deadline for the project report is April 28 unless otherwise agreed with the project supervisors. The project should be presented Friday, April 28, at 10:15-12:00 in the Automatic Control Seminar Room (M:2112B). All project groups should give an oral presentation of 5-10 minutes. Presence mandatory for students of FRTN15. WELCOME!

### Project Groups 2017

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