Course syllabus
Welcome to the homepage of the course EEN050, Robust and Nonlinear Control (RON)!
Course-PM
EEN050 Robust and nonlinear control runs in LP1 HT24 (7.5 hp) IRL. This course is offered by the Department of Electrical Engineering, Division Systems and Control, Automatic Control Group.
Contact details
- examiner and lecturer: Balazs Kulcsar, professor, kulcsar@chalmers.se
- teachers: Sondre C Wiersdalen, chanon@chalmers.se , Filip Rydin filipry@chalmers.se
- administrator at E2: Christina Lidbeck, cristina.lidbeck@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, model based controllers. In the second part of the course, we work with nonlinear dynamical systems and related controller design methods that covers a wide range and practically important class of systems.
Course representatives
We have the following course reps for EEN050 (CID), contact them or the teachers with problems:
Simon Bromert ( simbrom )
Alexander Boström ( alebostr )
Erik Linghammar ( eriling )
Johan Wheeler (johanwh)
Midterm evaluation meeting: Sept 19, 12-13, lunch meeting (lecture hall).
Mid-term course evaluation report is available HERE
Schedule
In 2023/24 all sessions will be on campus with the following schedule: TimeEdit
(In case of change in the above teaching mode (pandemics, regulations), we will notify the students and may alter the teaching mode).
First (lecture) session
Date and time: 2nd September, Monday, 2024, 13:15
Lecture hall: room SB-M415, buildig SB1/SB2
Lecture preparation videos: video1, (Links to an external site.)
(Optional warm up/preliminaries video: video0 (Links to an external site.))
The above information has been extracted here to help the students with the first session. See all the details below.
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 via Canvas. Course books via Cremona or alike.
Course design
The course uses flipped classroom techniques and is centered around lectures and tutored assignment sessions. We believe these sessions will not only be fun events but also very effective ones. It is therefore essential in a weekly basis that students actively prepare to these interactive sessions (see the weekly preparation schedule below). More precisely,
- flipped classroom lectures: twice a week
- tutored/consultation sessions (for exercises, assignments (6), labs(1)): twice a week
- laboratory session, one time during the term
Lab and assignments will be solved in groups of 3 students.
Groups and time slots
You can create your own group. Each group is assigned a time slot for assignment and lab tutoring. We provide these details in this document.
To join a group, press "People" in the menu followed by pressing the "Groups" tab.
Changes made since the last occasion
Lectures 0-8 rerecorded (new theory: \mu analysis and synthesis)
Adjustments in Assignments, and Lab descriptions, syllabus.
Learning objectives and syllabus
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Understand signals' and systems' sizes and explain the limitations behind LTI model (nominal Linear Time Invariant models).
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Identify and describe the most important uncertainty structures for SISO and MIMO LTI dynamics.
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Formulate robust control objectives and understand methods in calculating them.
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Apply the theory of gain scheduled control to reach robust objectives.
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Understand the limitations of uncertain linear or parameter scheduled control systems.
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Analyse the stability properties of nonlinear systems.
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Apply methods for nonlinear control system design. Assess the stability and performance of the resulting closed loop systems.
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Become familiar with the software tools for the analysis and synthesis of nonlinear control systems.
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Explain, understand and motivate closed loop behaiviours.
Course syllabus and course PM: here
Study plan for EEN050:
Study plan (Links to an external site.)
Form of examination
- Satisfy course project requirements: (1) submit and get approval for all assignments (group) AND (2) prepare and get approval for the labsession (grading UG, pass/fail, 3.5 credits in total).
- Pass written examination (4.0c). Exam: (Check registration deadline! Registration is mandatory): October 24th, 2023 morning slot (re-exams in January and August 2024). Grading: F, 3, 4, 5.
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 more details here
- Download under Files/Exam (sample/previous years exam questions under File/Exam).
Weekly split of preparation tasks (in study weeks)
It is essential that you come prepared to lecture times and tutoring.
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 with you to the lecture times
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 complete understanding of the weekly subject without preparation!)
-your questions will be answered if asked
-interactive-fun quiz (individual/small group)
-interactive-fun discussion on problems
During tutoring time:
-your group will be given two timeslots per week. Bring your questions with you (exercises, assignments, lab).
-you can collect mandatory preapproval for assignments submission
Course summary:
| Date | Details | Due |
|---|---|---|