# Predictive Control

# FRTN15/FRTN15F Predictive Control

Syllabus | CEQ | Schedule |

### News

Frequently asked questions are collected here: FAQ

### Personnel 2018

#### Lectures:

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

#### Problem solving sessions and labs:

- Fredrik Bagge Carlson (FredrikB@control.lth.se)
- Marcus Greiff (Marcus.Greiff@control.lth.se)

#### Recommended Prerequisites:

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

#### Course Material

- Course Program 2018
- 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 on Tuesdays 13.15–15.00 and Thursdays 13.15–15.00; Wednesdays Jan 17 and Jan 24 at 13.15–15.00 in the seminar room M:2112B of Dept. Automatic Control according to the schedule:

Week | Date | No | Contents | Ref. |

3 | 16/1 | L1 | Introduction. Signals & Systems. Real-time Parameter Estimation. | Ch. 1, 2, 4 |

17/1 | L2 | Automatic Tuning, Gain Scheduling, Auto-calibration. | Ch. 1 | |

18/1 | L3 | ARMAX models. Pole assignment Model Matching. Optimal Control. | Ch. 5, A, B | |

4 | 23/1 | L4 | Pole Assignment. Model matching. Disturbance Models. LQ Control. | Ch. 5, 6 |

24/1 | L5 | Optimal Prediction. Optimal Predictive Control. The Kalman Filter. LQG Control. | Ch. 5, 7, 8 | |

25/1 | L6 | Adaptive Control | Ch. 9 | |

5 | 30/1 | L7 | Adaptive Control. | Ch. 9 |

1/2 | L8 | Model Predictive Control (MPC) | Ch. 13 | |

6 | 6/2 | L9 | Iterative Learning Control (ILC). Iterative Feedback Tuning (IFT). | Ch. 12 |

8/2 | L10 | More Model Predictive Control | Ch. 13 | |

7 | 13/2 | L11 | Stability: Lyapunov Theory. | Ch. D |

15/2 | L12 | Stability: Input-Output Stability. Passivity. | Ch. E | |

9 | 27/2 | L13 | Stochastic Adaptive Control | Ch. 10, 11 |

1/3 | 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:R, M:2112B or M:M2:

- Fredrik Bagge Carlson (FredrikB@control.lth.se)
- Marcus Greiff (Marcus.Greiff@control.lth.se

Contents | |||

3 | 19/1 | E1 | Simulation of Adaptive Systems. Notice simulation session in Lab B! |

4 | 26/1 | E2 | Real-Time Parameter Estimation. |

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

6 | 9/2 | E4 | Adaptive Control. |

7 | 16/2 | E5 | Model Predictive Control |

8 | 23/2 | E6 | Iterative Learning Control (ILC)+additional |

9 | 2/3 | 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 C. No sign-up needed.
- 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 |

Lab 1 | w.5 | Autotuning and Gain Scheduling | Fredrik Bagge Carlson |

Lab 2 | w.7 | Adaptive Control | Marcus Greiff |

Lab 3 | w.8 | Predictive Control | Marcus Greiff |

#### Laboratory Materials

- Lab 1. Gain scheduling, Installation instructions, Sign up for Lab 1 (at least one day in advance)
- Lab 2. Adaptive Control, Preparation files, Lab files, Sign up for Lab 2 (at least one day in advance)
- Lab 3. Predictive Control, Lab files, MPC Tools, Sign up for Lab 3 (at least one day in advance)

### Exam

Tuesday, March 14, at 8-13 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 4, 2018. Responsible: Fredrik Bagge Carlson

- Home Work 2—Adaptive Control.

Software Tools, Adaptlib Notes, Sampling Notes.

Deadline February 11, 2018. Responsible: Marcus Greiff

- Home Work 3—Model Predictive Control (MPC). Deadline February 25, 2018. Responsible: Marcus Greiff

Send your HW solutions to the responsible staff member.

### 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 23. The deadline for the project report is April 27 unless otherwise agreed with the project supervisors. The project should be presented Friday, April 27, 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!