431-464 Control 2 (Advanced Control)

431-324 Control 1 (Classic Control) (prior to 2004 System Modelling and Control)

On completion of this subject, students should have a good understanding of state-space discrete-time controller design methods and the MATLAB software package to perform such design.

Topics include: motivation for advanced MIMO control; Industrial examples. Revision: input/output and state space models of LTI continuous-time and discrete-time systems. Discretisation of the plant with a zero order hold. Similarity coordinate transformations. Relations of transfer function and state space representations. Controllability and stabilisability. Observability and detectability. Kalman canonical decomposition. Pole-zero cancellation and relation to controllability/observability. Pole assignment by state feedback. Ackerman's formula. Observers. Separation principle. Internal model principle. Tradeoffs in controller/observer design. Optimal controller design (LQR deterministic and LQR and LQG). Optimal observer design (LQR and LQG). Connections of optimal control and estimation to pole assignment. Achieving integral action in LQR synthesis. Predictive control. Design study: an industrial application.

Project: Modelling, analysis, controller design and implementation for a particular plant (on some of our lab equipment.)

• ability to apply knowledge of basic science and engineering fundamentals

• ability to communicate effectively, not only with engineers but also with the community at large

• in-depth technical competence in at least one engineering discipline

• ability to undertake problem identification, formulation and solution

• ability to utilise a systems approach to design and operational performance

• ability to function effectively as an individual and in multi-disciplinary and multi-cultural teams, with the capacity to be a leader or manager as well as an effective team member

• understanding of the social, cultural, global and environmental responsibilities of the professional engineer, and the need for sustainable development

• expectation of the need to undertake lifelong learning, capacity to do so

• capacity for independent critical thought, rational inquiry and self-directed learning

• intellectual curiosity and creativity, including understanding of the philosophical and methodological bases of research activity

• openness to new ideas and unconventional critiques of received wisdom

• profound respect for truth and intellectual integrity, and for the ethics of scholarship

Three homework assignments. Solutions of each assignment should be less than 10 A4 pages long using 12 pt font. (15%). One mid-semester test (15%). One project consisting of a written report less than 20 A4 pages long using 12pt font (commencing at beginning of semester and due at end of semester) (10%). One written final examination three hours (60%).