Prediktiv reglering, 7.5 hp
- 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>
Automatic Control (FRT010), some background in discrete-time signals and systems.
- 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 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:
|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)
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)
|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.|
|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|
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 1||w.6||Gain Scheduling||Marcus Greiff|
|Lab 2||w.8||Adaptive Control||Marcus Greiff|
|Lab 3||w.9||Predictive Control||Christian Rosdahl|
- Lab 1. Gain scheduling, Lab files.
- Lab 2. Adaptive Control, Lab files, Preparation files.
- Lab 3. Predictive Control, Lab files, MPC Tools.
Tuesday, March 19, at 14-19 in MA:10A-B.
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 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.
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!