# FRTN15 - Predictive Control

Syllabus | CEQ | Schedule |

### News

- The FRTN15 project seminar is to held in the seminar room M:2112B on Monday, May 6, at 10.15am.

Frequently asked questions are collected here.

### Personnel 2019

#### Lectures:

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

#### Problem solving sessions and labs

- Marcus Greiff <Marcus.Greiff@control.lth.se>
- Christian Rosdahl <Christian.Rosdahl@control.lth.se>

#### Recommended Prerequisites:

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

#### Course Material

- Course Program 2019
- Lecture notes: Predictive and Adaptive Control, 2018 (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 or M:B on Tuesdays 13.15–15.00 and Thursdays 13.15–15.00 according to the schedule:

Week | Date | No | Contents | Ref. |

4 | 22/1 | L1 | Introduction. Signals & Systems. Real-time Parameter Estimation. | Ch. 1, 2, 4 |

24/1 | L2 | Automatic Tuning, Gain Scheduling, Auto-calibration. | Ch. 1 | |

5 | 29/1 | L3 | ARMAX models. Pole assignment Model Matching. Optimal Control. | Ch. 5, A, B |

31/1 | L4 | Pole Assignment. Model matching. Disturbance Models. LQ Control. | Ch. 5, 6 | |

6 | 5/2 | L5 | Optimal Prediction. Optimal Predictive Control. The Kalman Filter. LQG Control. | Ch. 5, 7, 8 |

7/2 | L6 | Adaptive Control | Ch. 9 | |

7 | 12/2 | L7 | Adaptive Control. | Ch. 9 |

14/2 | L8 | Model Predictive Control (MPC) | Ch. 13 | |

8 | 19/2 | L9 | Iterative Learning Control (ILC). Iterative Feedback Tuning (IFT). | Ch. 12 |

21/2 | L10 | More Model Predictive Control | Ch. 13 | |

9 | 26/2 | L11 | Stability: Lyapunov Theory. | Ch. D |

28/2 | L12 | Stability: Input-Output Stability. Passivity. | Ch. E | |

10 | 5/3 | L13 | Stochastic Adaptive Control | Ch. 10, 11 |

7/3 | 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 or 13.15-15.00 in M:M1:

- Marcus Greiff (Marcus.Greiff@control.lth.se
- Christian Rosdahl (Christian.Rosdahl@control.lth.se)

Week | Date | Contents | |

4 | 25/1 | E1 | Simulation of Adaptive Systems. Notice simulation session in Lab B! |

5 | 1/2 | E2 | Real-Time Parameter Estimation. |

6 | 8/2 | E3 | Optimal Prediction. Optimal estimation. Kalman filter. |

7 | 15/2 | E4 | Adaptive Control. |

8 | 22/2 | E5 | Model Predictive Control |

9 | 1/3 | E6 | Iterative Learning Control (ILC)+additional |

10 | 8/3 | E7 | Stability of Adaptive Schemes, Exam questions |

#### Exercise Materials

- Exercise 1 with exercise_1_public.zip. Notice that this computer exercise is held in Lab B.
- 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

Sign up for the laboratory sessions here, and do so at least one day in advance. Note that Lab 1 is now updated, and there is no preparations needed apart from reading the relevant chapters in the course book.

Lab | Time | Contents | Responsible |

Lab 1 | w.6 | Gain Scheduling | Marcus Greiff |

Lab 2 | w.8 | Adaptive Control | Marcus Greiff |

Lab 3 | w.9 | Predictive Control | Christian Rosdahl |

### Laboratory Materials

- Lab 1. Gain scheduling, Lab files.
- Lab 2. Adaptive Control, Lab files, Preparation files.
- Lab 3. Predictive Control, Lab files, MPC Tools.

### Exam

Tuesday, March 19, at 14-19 in MA:10A-B.

### Old Exams

### 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 10, 2019. Responsible: Christian Rosdahl

- Home Work 2—Adaptive Control.

Software Tools, Adaptlib Notes, Sampling Notes.

Deadline February 17, 2019. Responsible: Marcus Greiff

- Home Work 3—Model Predictive Control (MPC). Deadline February 24, 2019. Responsible: Christian Rosdahl

Please send your solutions by the deadlines to the emails mentioned in the handins in a PDF-format or to <FRTN15@list.control.lth.se>. You will get feedback on your solution, and if it needs revision, you will have to submit a revised solution within a week of receiving the feedback. Cooperation is allowed in small groups, but every student needs to submit an individual report for every homework.

### 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, March 1. The deadline for the project report is May 3 unless otherwise agreed with the project supervisors. The project should be presented Friday, May 3, at 10:15-12:00 in the seminar room M:2112B of Dept. Automatic Control. All project groups should give an oral presentation of 5-10 minutes. Presence mandatory for students of FRTN15. WELCOME!