Course syllabus

Welcome to the course homepage EEN050, Robust and Nonlinear Control (RON)!

Course-PM

EEN050 EEN050 Robust and nonlinear control lp1 HT20 (7.5 hp) over ZOOM. Course is offered by the department of Electrical Engineering

ENE050_CoursePM.pdf

Contact details

• examiner and lecturer: Balazs Kulcsar, kulcsar@chalmers.se
• teachers: Angel Molina Acosta (course assistant) angel@chalmers.se, Sondre C Wiersdalen, chanon@chalmers.se
• administrator at E2 Madeleine PERSSON, madelein@chalmers.se

Course purpose

In this course we first purport to develop controllers that explicitly deals with uncertainty and disturbance. We start with linear time invariant and parameter dependent models and aim at designing robust controllers. Second, we introduce nonlinear dynamics and related controller design methods that covers a wide range and practically important class of systems.

Course representatives
Karl Fransson <frakarl@student.chalmers.se>

Victor Hanson <hansonv@student.chalmers.se>

Lorenzo Montalto <lormon@student.chalmers.se>

Kai Ollenschläger <kaid@student.chalmers.se>

Schedule
In 2021/22 all sessions will be of electable hybrids forms; from the lecture halls published in the schedule TimeEdit we will create ZOOM sessions (all sessions will have the same password: RON). In this way student can choose to physically or virtually be present. ZOOM lecture times(class times) will be recorded and uploaded to Canvas.

(In case of change in the above hybrid teaching mode (pandemics, regulations), we will notify the students and may alter the teaching mode.)

First (lecture) session
30th August (ZOOMed from building E (EDIT), room ED)
Lecture preparation videos:
Monday video1, video2
Lecture ZOOM link:
Link to the first lecture time

The above information has been extracted here to help the students with the first session.

Course literature

S Skogestad, I Postlethwaite: Multivariable Feedback Control: Analysis and Design (Cremona, chapters covered 3,4,7,8,9 recommended 5,6)

HK Khalil: Nonlinear Systems, ISBN: 013228024-8, second edition (Cremona, chapters covered 1,3,4,10,12,13 recommended 2,5)

Slides, interactive lecture videos(play.chalmers.se), exercise videos (play.chalmers.se), assignment and lab syllabuses.

Course design

The course uses flipped classroom techniques and centered around lectures and tutored assignment sessions. We believe these sessions will not only be fun events but also very effective. It is therefore very important in a weekly basis that students actively prepare to these sessions (See the weekly preparation schedule below).

• flipped classroom lectures: twice a week
• tutoring sessions (for exercises, assignments (6), labs(1)): twice a week
• laboratory session (elective: physical or virtual), one time during the term
  

Labs and assignments will be solved in groups of 3 students.

Changes made since the last occasion

All sessions can either physically or virtually be attended. Lab session can be done in simulations or physically.

Flipped classroom lectures are implemented (videos with quizzes, interactive lecture time).

Rearrangement of assignments. 1 newly added assignment (nonlinear control synthesis).

Thematic change: H2 controller design comes before the Hinf solutions.

Grade 4 is given if one collects 65% and grade 5 if 85% of the total points in the exams.

Learning objectives and syllabus

• Understand signals and systems sizes and explain the limitations of nominal Linear Time Invariant (LTI) control methods.
• Identify and describe the most important uncertainty phenomena for SISO and MIMO LTI dynamical systems;
• Formulate robust control objectives and understand methods for calculating them.
• Apply the theory of gain scheduled control to reach robust objectives.
• Understand the limitations of uncertain linear or parameter scheduled control systems. Analyse the stability properties of nonlinear systems;
• Apply a few methods for nonlinear control system design and to assess the performance of the resulting design;
• Use software tools for analysis and synthesis of nonlinear control systems, and to present and motivate their solution

Study plan (Links to an external site.)

Form of examination

1. Satisfy course project requirements=(1) submitted and approved assignments (each group) AND (2) lab preparation and approval on labsession (grading UG, pass/fail, 3.5c).
2. Pass written examination (4.0c). Exam: (check registration deadline! Registration is mandatory) October 26th, 2021, am (Reexams in January and August 2022), grading: 3, 4, 5.
   
   On campus examination see more details here!
   

Grading policy, content of written examination:
20 points with 0.5 resolution. Some theoretical 10-20% the rest exercise like problem solving questions. 10-20% challenging questions. Msc students, grade 3 collect 50% of points; grade 4 collect 65% of points; grade 5 collect 85% of points. Lic, PhD students, to pass collect at least 60% of points.

See for more details at exams guide and sample/previous years exam questions under File/Exam/Old Exams.

 

Weekly split of preparations (in study weeks)

It is essential that you come prepared to lecture times and tutoring occasions.

How to prepare?

Before joining the lecture time
-watch the videos/read the connected book chapters. Answer the quiz questions in the video.
-in case something is unclear, formulate your questions and bring those to the lecture time

Before joining the tutoring sessions (every group has secured consultation time twice a week)
-watch the exercises of the week (3 to 5 short videos per week).
-solve assignment questions for the week (check the deadline for submissions)
-in case something is unclear, formulate your questions and bring those to the tutoring time

What will happen on lecture and tutoring sessions?

During lecture time:
-a brief condensed summary of the topics will be provided (insufficient for the understanding without preparation!)
-your questions will be answered
-interactive-fun quiz (individual/small group)
-interactive-fun discussion on problems

During tutoring time:
-your group will be given two timeslots. Bring your questions with you (exercise, assignment, lab).
-approval for assignment submission may be given

 

Week 1	Week 2	Week 3	Week 4	Week 5	Week 6	Week 7	Week 8
Lecture preparation videos: Monday video1, video2 improved sound quality: video1, video2 Thursday video3	Lecture preparation videos: Monday video4, video5 Thursday video6, video7	Lecture preparation videos: Monday video8 Thursday video9	Lecture preparation videos: Monday video10 Thursday video11	Lecture preparation videos: Monday video12 Thursday video13	Lecture preparation videos: Monday video14 Thursday video15	Lecture preparation videos: Monday video16 Thursday video17	Lecture preparation videos: Monday video18 Thursday  exam prepare
Tutoring preparation Exercises playlist 1	Tutoring preparation Exercises playlist 2	Tutoring preparation Exercises playlist 3	Tutoring preparation Exercises playlist 4	Tutoring preparation Exercises playlist 5	Tutoring preparation Exercises playlist 6	Tutoring preparation Exercises playlist 7	Tutoring preparation Exercises playlist 8
	Submit assignment 1	Submit assignment 2	Submit assignment 3	Lab sessions (physical/online)	Submit assignment 4	Submit assignment 5	Submit assignment 6