Feedback Control, Advanced Course, 7.5 hp

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, 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. The course also covers gain schedulingparamterestyrning, the MIT rule, and adaptive reference regulation (MRAC).