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FRTN15 Predictive Control

FRTN15 Predictive Control

 

Course Syllabus CEQ Exam Schedule

News

  • Lab 3 takes place on the Thursday, Oct 13, and Friday, Oct 14, in Lab C. Signup starts on Monday, Oct 3, in the late afternoon (see sign-up lists).
  • New time for the exercises week 38, 39, 40: 13.00-15.00!
Please find the schedule for the next few days:
  • Friday, Sep 23, at 1015am-12: Lecture L8; Seminar Room M2498, Dept. Automatic Control;
  • Friday, Sep 23, at 1315: Exercise session
  • Monday, Sep 26, at 1315-15: Lecture L9; Seminar Room M2498, Dept. Automatic Control;
Please contact Meike and Marzia concerning the laboratory session on Monday, Sep 26.  Tentatively, we suggest that the laboratory session be moved to after the lecture, that is, 1515-19.

Past

  • The sign-up for the first Lab is open from today, 14th September 2011.
  • The exercise sessions will be held in room E:1124 in the E-building.
  • Important! Change of time for the simulation exercise:
    Because of collisions with other lectures, the simulation exercise that was scheduled at 10am at the 8th of September has been moved to 3pm the same day.
    Students who signed up for 10am are now automatically signed up for 3pm. If you want to change your time, please send an email to: Meike.Stemmann@control.lth.se
    Also, the sign-up is extended until 8th of September, noon.
  • Welcome to FRTN15 Predictive Control. The first  lecture is to be held on Tuesday, August 30, at 1315-1500 in M:E.

Course Page

 

Welcome to the course FRTN15 Predictive Control given by the Department of Automatic Control, http://www.control.lth.se.

News

  • Welcome to FRTN15 2011

Personnel

The lectures are given by Rolf Johansson (email: Rolf.Johansson@control.lth.se, tel. 046-222 8791, office M:5145; Office hour Mon 16.00-17.00) and Anders Widd (tel. 046-222 0362, Anders.Widd@control.lth.se, Office hour M8-10,M:2208). Problem solving sessions and labs are given by Marzia Cescon (tel. 046-222 8784, Marzia.Cescon@control.lth.se, Office hour W 13-14, M:2156) and Meike Stemmann (tel. 046-222 9745, Meike.Stemmann@control.lth.se, Office hour W 15:30-16:30, M:2156). Information is available on http://www.control.lth.se/course/FRTN15.

Prerequisites

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

Course Material

  • Course Syllabus
  • Lecture notes: Predictive and Adaptive Control, Fall Semester 2011 (R. Johansson) is available through KFS.
  • Additional reading: K J Åström and B Wittenmark Adaptive Control, Second Edition, Addison Wesley 1995
  • Additional reading: K J Åström and B Wittenmark Computer-Controlled Systems, Third Edition, Prentice Hall 1996
  • Lab manuals, exercises and solutions are available below.

Lectures

Lectures will be held in M:E on Tuesdays 13.15–15.00 and Thursdays 8.15–10.00; Wednesdays, 13.15–15.00 in the Seminar Room of Dept. Automatic Control (M2498) according to the following schedule:
Week Date No Contents Ref.
35
30/8 L1 Introduction. Signals & Systems. Real-time Parameter Estimation. Ch. 1, 4

31/8 L2 Automatic Tuning, Gain Scheduling, Auto-calibration. Ch. 1
36
 6/9 L3 ARMAX models. Pole Assignment. Model matching. Optimal Control. Ch. 2-3

7/9 L4 Pole Assignment. Model Matching. Disturbance Models. Ch. 5

8/9 L5 Optimal Prediction. Optimal Predictive Control. The Kalman filter. Ch. 6-8
37
 13/9 L6 Adaptive Control. Ch. 9
38
 22/9 L7 Adaptive Control. Ch. 9

23/9 L8 Model Predictive Control Ch. 13
39
 26/9 L9 Iterative Learning Control (ILC). Iterative Feedback Tuning (IFT). Ch. 12

27/9 L10 Model Predictive Control Ch. 13
40
 4/10 L11 Stability: Lyapunov theory App. D

5/10 L12 Input-Output Stability. Passivity. App. E, F

6/10 L13 Stochastic Adaptive Control. Ch. 10
41
 13/10 L14 Implementation. Applications.
 Ch. 11


Exercises

LP1 Fridays 10.15-12.00 in E:1124
  • Marzia Cescon (tel. 046-222 8784, Marzia.Cescon@control.lth.se, Office hour
    W 13-14, M:2156);
  • Meike Stemmann (tel. 046-222 9745, Meike.Stemmann@control.lth.se, Office
    hour W 13-14, Office M:2156);



Contents
36 8-9/9 E1 Simulation of Adaptive Systems.
Notice simulation sessions in Lab B on Sep 8-9. SIGN UP!
36 9/9 E2 Real-Time Parameter Estimation.
37 16/9 E3 Optimal Prediction. Optimal estimation. Kalman filter.
38 23/9 E4 Adaptive Control.
39
 30/9 E5 Model Predictive Control.
40 7/10 E6 Iterative Learning Control (ILC).
41 14/10 E7 Stability. Robustness.

Exercise Materials

  1. Exercise 1 Sign up for Exercise 1 here. Notice that this computer exercise is held in Lab B.
  2. Exercise 2 and solutions
  3. Exercise 3 and solutions
  4. Exercise 4 and solutions
  5. Exercise 5 and solutions
  6. Exercise 6 and solutions
  7. Exercise 7 and solutions, and additional reading on Lyapunov Stability Theory
efter

Laboratory sessions

Lab Time Contents Responsible Phone Office
Lab 1 w.38 Autotuning and Gain Scheduling Meike Stemmann
 046 222 9745
 M:2156
Lab 2 w.39 Adaptive Control Marzia Cescon
 046 222 8784 M:2158
Lab 3 w.41 Predictive Control Meike Stemmann
 046 222 9745
 M:2156

Laboratory Materials


Exam

The exam results will be anounced 28/10 12:00 on the Department notice board and on the course homepage, i.e., here. Lab C is open 28/10 13:00-14:00 for questions and comments on your results (The corrected exams will be available during this session.). The solutions to the exam in October 2010 can be found here. Results of the Exam in October 2010: D E F Exchange

Old Exams


Home Work Assignments

Please send your solutions by the deadlines to FRTN15@control.lth.se. Use PDF-format.

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, October 7. The deadline for the project report is Nov 26 unless otherwise agreed with the project supervisors. The project should be presented 10:15-12:00 Friday Dec 2 in the Automatic Control Seminar Room. All project groups should give an oral presentation of 5-10 minutes. Presence mandatory for students of FRTN15. WELCOME!

A list of project participants
FRTN15 project groups