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Lecturer(s)
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Dušek František, doc. Ing. CSc.
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Course content
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The aim of the course is to acquaint students with some advanced control design methods of linear dynamical systems especially in the discrete-time area. Attention is focused mainly on the following areas: *adaptive control of SISO systems (Model Reference Control, suboptimal control with online identification based on external description *state estimation of the deterministic and stochastic system (Luenberger and Kalman's estimator, adaptive Kalman's estimator) *quadratic optimal state-space control (LQ control on the finite and infinite horizon, solution using dynamic programming and using algebraic Riccati equation, some variation of the trajectory tracking task) *optimal control of stochastic systems, LQG controller *predictive control of MIMO linear systems under existence of constraints (use of quadratic programming, control of systems with time-varying parameters)
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Learning activities and teaching methods
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Monologic (reading, lecture, briefing), Methods of individual activities, Laboratory work
- Home preparation for classes
- 200 hours per semester
- Home preparation for classes
- 200 hours per semester
- Individual project
- 200 hours per semester
- Individual project
- 200 hours per semester
- Preparation for an exam
- 200 hours per semester
- Preparation for an exam
- 200 hours per semester
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Learning outcomes
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The aim of the course is to acquaint students with some advanced control design methods of linear dynamical systems especially in the discrete-time area.
Overview of problems and knowledge of adaptive control design of SISO systems. Knowledge of design of controllers based mainly on linear state description including state estimation.
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Prerequisites
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Knowledge of mathematics, physics and control theory at master level is assumed. Knowledge of programming and computing environment MATLAB / SIMULINK is expected
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Assessment methods and criteria
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Oral examination, Written examination, Home assignment evaluation
The student completes at least 3 consultations during the semester concerning the theoretical content of the course. The student will pass at least 1 consultations concerning the assigned practical problem. In the practical part the student will design and implement a control system for selected process. The control system will be verified on a real laboratory apparatus
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Recommended literature
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Aström, Karl J. Adaptive control. Reading: Addison-Wesley, 1995. ISBN 0-201-55866-1.
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Camacho, Eduardo F. Model predictive control. London: Springer-Verlag, 2007.
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Havlena, Vladimír. Moderní teorie řízení. Praha: Vydavatelství ČVUT, 1994. ISBN 80-01-01076-7.
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Maciejowski, Jan Marian. Predictive control : with constraints. Harlow: Pearson Education, 2002. ISBN 0-201-39823-0.
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Ogata, Katsuhiko. Discrete-time control systems. Upper Saddle River: Prentice Hall, 1995. ISBN 0-13-034281-5.
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Ogata, Katsuhiko. Modern control engineering. New Jersey: Prentice Hall, 1990. ISBN 0-13-589128-0.
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Rawling, J.B.; Mayne, D.Q. Model predictive control. 2009. ISBN 978-0-975-93770-9.
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