Modern Control 1

Modern state space methods allow for the controller design of complex multi input multi output (MIMO) which appear in mechatronics, vehicle and flight control as well as in process engineering.

Outline of the module
1. Introduction
2. Design of state feedback control for MIMO systems
3. State observers
4. Disturbance attenuation
5. Extended controller structures
6. Feedback linearization of nonlinear sytsems
7. Outlook: Artificial Neural Networks and control by Fuzzy Logic

After attending the module the participants should be able to

- apply the presented theory to the design of linear state feedback controllers and observers
- assess the applicability of the different presented methods and use them for the corresponding classes of systems
- assess system properties like stability, controllability, observability for open loop and closed loop systems under the conditions of the applied design method
- augment state space control by the presented methods for disturbance attenuation
- design feedback linearizing controllers for nonliner single input single output (SISO) system
- create block diagrams for complexe control tasks
- understand the principles of Artificial Neural Networks and control by Fuzzy Logic.

The contents of the basic module "Automatic Control" are required as well as basic knowledge of linear algebra and first order linear differential equations as taught in "Höhere Mathematik".

The module "Systems Theory in Mechatronics" is recommended.

As an alternative an introduction to the state space representation can be downloaded for individual preparation:

- Grundlagen.pdf (revision of important facts from "Automatic Control")
- Zustandsdarstellung.pdf (important issues from "Systems Theory"),
- Analyse.pdf (additional material on controllability, observability, stability, invariant zeros).

In the lectures all presented methods are derived systematically and consecutively on the blackboard and illustrated by examples. Supplementary material can be downloaded ("Beiblätter").

Problems can be downloaded and the solutions are presented in parts in the problem sessions. Active participation of the students (questions, comments) is desired. Additional problems are provided for unassisted exercise as well as solutions to all problems (download).

Furthermore three tutorial sessions in several groups are offered to apply the content of the module to three technical problems.

Office hours of the assistant lecturer (on appointment) offer a possibility for further questions and discussion.

Lecture, blackboard, tablet presentation via beamer

Additional material, problems, solutions and tutorials can be downloaded from the institute's webpage

1] Föllinger, O.: Regelungstechnik. 12., überarb. Auflage, Berlin (u.a.): VDE Verl., 2016. – XV, 452 S. ISBN 9783800742011.
In der TUM Bibliothek vorhanden.
Ein Standard-Werk. Der Vorlesungsstoff wird bis auf wenige Ausnahmen gut abgedeckt.

[2] Lunze, J.: Regelungstechnik
Bd. 1. – 12., überarb. Aufl.. – Berlin: Springer, 2020. – ISBN 9783662607466 Als E-Book an der TUM unter https://doi.org/10.1007/978-3-662-60746-6 und
Bd. 2. – 9. überarb. u. aktual. Aufl. – Berlin: Springer 2016. Als E-Book in der TUM Bibliothek unter https://doi.org/10.1007/978-3-662-52676-7 .
Lehrbuch in 2 Bänden, das den Stoff ebenfalls gut abdeckt. Viele Beispiele und Übungsaufgaben, auch mit MATLAB.

[3] Ludyk, G.: Theoretische Regelungstechnik. Springer 1995. –
Bd. 1: XI, 390 S., 165 Abb. – ISBN 9783642772214.
In der TUM Bibliothek als E-Book unter https://doi.org/10.1007/978-3-642-77221-4
Bd. 2: X, 330 S., 127 Abb. – ISBN 9783642793912.
In der TUM Bibliothek als E-Book unter https://doi.org/10.1007/978-3-642-79391-2
Lehrbuch in zwei Bänden, in dem Wert auf mathematische Exaktheit und Vollständigkeit gelegt ist.

[4] Slotine, J.J.E. and W. Li: Applied Nonlinear Control.- Engelwood Cliffs, NJ: Prentice Hall, 1991. – XV, 461 S. – ISBN 9780130408907.
In der TUM Bibliothek vorhanden
Ein Lehrbuch zur nichtlinearen Regelung.

[5] Franklin, G.F., Powell, J.D., Emami-Naeini, A.: Feedback Control of Dynamic Systems. . – Eight Ed., New York: Pearson 2020. – 924 S. – ISBN 9781292274546.
In der TUM Bibliothek als E-Book unter https://ebookcentral.proquest.com/lib/munchentech/detail.action?docID=5834413
Modernes Lehrbuch.

[6] Dorf, R.C., Bishop, R.H.: Moderne Regelungssysteme.- Dt. Übers. der 10. überarb. englischsprachigen Aufl. - 1166 S. Pearson 2006.- ISBN 9783827373045
Berühmtes Lehrbuch, nun in deutscher Sprache.

In the written test (90 min) the topics of the module are examined - from the theoretical viewpoint as well as applied to practical problems.
The main part of the exam consists of the application of the learned methods on different problems by calculations. In the smaller part theoretic issues are checked by comprehension questions.
The only allowed aid is a self-provided, handwritten formulary on a both-sided DIN A4 sheet. A calculator is not allowed.

Note: The contents and the learning outcomes to be examined of the modules MW1420 "Advanced Control" and MW0538 " Moderne Methoden der Regelungstechnik 1" are equivalent. “Advanced Control” is preferably offered for English speaking students. If both modules are integrated in degree programs, only one of the two modules can be completed for the degree. It is not possible to take the modules twice in order to improve grades (see APSO §24, paragraph 4, sentence 2).