Course
Plan
There are fourteen lectures, seven problem solving sessions, three
laboratory exercises, two homework projects and a final project. A
detailed program of the course is found in the
Course
Syllabus 2006
The CEQ-reports for 2004
and 2005
can be found here.
Lectures
The lectures are given by Rolf Johansson on lecture hall M:E on
Tuesdays 08.15--10.00 (8.15-10am) and Thursdays
15.15--17.00 (3.15--5pm) according to the following schedule
- L1 Introduction. Real-time parameter estimation
- L2 Automatic Tuning (Ch. 8) and Gain Scheduling. (Ch.
9),
Auto-calibration.
- L3 Pole assignment. Model matching.
- L4 Pole assignment. Model matching. Disturbance Models. II
- L5 Optimal Prediction. Optimal Predictive Control.
- L6 Self-tuning Regulators 1. (Ch. 3)
- L7 Self-tuning Regulators 2. (Ch. 3)
- L8 Stochastic Adaptive Control. (Ch. 4)
- L9 Model-Reference Adaptive Systems (MRAS). (Ch. 5)
- L10 Lyapunov Theory and Design of MRAS. (Ch. 5)
- L11 Input-Output Stability. Passivity. (Ch. 5)
- L12 Model-predictive Control (MPC)
- L13 Iterative Learning Control (ILC). Iterative Feedback Tuning (IFT).
- L14 Implementation. Applications. Products. (Ch. 11 and 12)
Problem
solving sessions 
LP1 Wednesdays
8.15-10am, Wednesdays 13.15-15 (1.15-3pm), or Thursdays
10.15-12
(10.15-12am) in Seminar Room M:2112.
Exercises
Office
hours
Literature
The course is based on the book Adaptive Control by
Karl J.
Åström and Björn Wittenmark. The second
edition of the
book is published by Addison-Wesley, ISBN 0-201-55866-1.
The
Preface ,
Table of Contents ,
Errata list
and
Solution manual (960913) are available through the links or
through
anonymous FTP from:
ftp.control.lth.se at the directory
/pub/books/adaptive_control . This directory also contains
macros
for generating the examples and illustrations using Simnon.
Laboratory
sessions
Projects
Project proposals are given in the
project list . You should have formed a group and formed a
project
by October 11. The active projects are found in the list of
project participants. Project presentations are to be made
on Friday, December 1 at 10.15-12 a.m in Seminar Room M:2112,
M-building). Deadline of reports is December 1.
Presence mandatory for students of FRT050. WELCOME!
Home Work
Assignments
Email your concise solutions to FRT050@control.lth.se
Exams
The re-exam is scheduled on January 9, 2007 (8am-1pm) in
room MA 10.
The exam is scheduled on October 17, 2006 (8am-1pm) in
seminar
rooms M:L1 and M:L2 in the M-building.
