Advanced Control

What it is about

You learn how to model real dynamic systems in state-space representation, linearize them, and analyze stability, controllability, and observability. Building on this, you design state-feedback regulators (including LQR), state observers, measures for disturbance rejection, as well as extended 2-DOF regulator structures; you also receive an introduction to input-output linearization for SISO systems.

What you will be able to do

• State-space models of real dynamic systems
• Determine equilibria and linearize systems
• Compute solutions of linear state-space differential equations and analyze stability
• Assess controllability and observability
• Understand 2-DOF control structures
• Design forward/feedforward controllers for zero steady-state error
• Design state feedback via pole placement and LQR
• Design Luenberger observers for reconstructing unmeasured states
• Apply measures for disturbance derivation and compensation
• Learn fundamentals of input-output linearization

What the module consists of

• Lecture (weekly, 90 min)Conveying theory and methods
• Exercise (weekly, 45 min)Practical problem solving and deepening
• Optional tutorials / additional sessionsDiscussion of further practice problems, clarification of open questions and deepening
• Recap sessions at the beginningRefreshing necessary prerequisites

Teaching method

• Lecture + ExerciseIntroduction to the theory and subsequent solving of exercises
• Preparation through self-study of lecture sectionsEnables active participation and meaningful exercise work
• Homework with solutionsIndependent deepening and practice outside the course
• Additional optional review and advanced coursesClarification of understanding questions and treatment of advanced topics