Adaptive Control, 7.5 credits

The technical content of the course, covered through lectures, exercises and laboratory work includes: the control design process, signal size, gain, stability, sensitivity, robustness, the small-gain theorem, transfer function matrices, multivariable zeros, non-minimum-phase systems, disturbance models in the time domain and frequency domain, frequency-domain specifications, fundamental limitations and trade-offs, controller structures, and internal model control, linear-quadratic optimization of state feedback and Kalman filter, synthesis using convex optimization, model reduction. The course also covers recursive-least-squares algorithms, the MIT rule, and adaptive reference regulation (MRAC).