Oktatási cél: After acquiring the foundations of systems theory and classical control theory, students are introduced to the various methods of modern control theory.
Tematika:Brief historical introduction. The “Canonical Form” of the Equations of Motion of the LTI Systems. Asymptotic stability, Controllability, Observability. Stabilization of Unstable Systems by Tracking Error Feedback Terms: Model Formalization for Single Variable Higher Order LTI Systems. Introduction of the Frequency Domain: The Laplace Transform, the function class D; The Use of the Frequency Domain in the Control of LTI Systems; Robust Control Design Methodologies for the Stable LTI Systems in the Frequency Domain: the H infinity
Controllers; The H_ Sensitivity Measure; Application Example: Two Mass-points Coupled by Linear, Damped Springs; The “Computed Torque Control” (CTC) for Robots. PID error feedback terms in general. Utilization of the Available Dynamic Model in the CTC Control; Application example: control of a 3 DoF robot arm. On The Realization of the Fixed Point Iteration. The “Control Lyapunov Function” Method. The “Backstepping Control”. Simultaneous Noise Filtering and Realization of Low Frequency Delay; The Model Reference Adaptive Controller
(MRAC); On Lyapunov’s 2nd Method; Limitation of the Lyapunov Function by Functions in Class kappa; Quadratic Lyapunov Functions; The Adaptive Inverse Dynamics Controller for Robots; Optimal Control; Receding Horizon Control.
