﻿ Optimal and Adaptive Control - Mestrado em Engenharia EletrotécnicaInstituto Politécnico de Tomar

# IPT

Ano Letivo: 2020/21

# Engenharia Eletrotécnica

## Optimal and Adaptive Control

Publication in the Diário da República: Despacho n.º 8500/2020 - 03/09/2020

6 ECTS; 1º Ano, 2º Semestre, 28,0 T + 28,0 PL + 5,0 OT + 2,0 O , Cód. 37787.

Lecturer
- Paulo Manuel Machado Coelho (1)(2)

(1) Docente Responsável
(2) Docente que lecciona

Prerequisites
Not applicable.

Objectives
General knowledge of control, including most common techniques and methods in MIMO control (multivariable) and state-space approaches; analysis and design skills through practical applications of the different techniques such as state estimate using Kalman Filter; design optimal and adaptive systems

Program
1 - Introduction and Reviews: Controllability and observability; design of state feedback and output feedback control: Ackermann's formula.
2 - Regulator Design and Reference Following: Controller with state observer; Predictor estimator; Current estimator. Reference inputs for full-state feedback systems; reference input with estimators; reference input with output error command; comparison of the estimator structure and classical methods.
3 - Disturbances and Control by State Augmentation: Disturbances estimation; Control by state augmentation, including the process model; Control by state augmentation, including the disturbances model; Integral control action.
4 - Adaptive Control: Least Squares Method; parameter estimate.
5 - MIMO Systems and Optimal Control: Time-varying optimal control; Linear quadratic regulator (LQR) steady-state optimal control; Optimal estimation based on Kalman Filter; Multivariable Control Design.
6 - Brief introduction to system identification techniques.

Evaluation Methodology
Exam (50%) and practical assignments (50%). The student must obtain a minimum grade of 8 marks (on a scale of 0 to 20) in the exam and a minimum grade of 9.5 marks (on a scale of 0 to 20) in the practical assignments. The average of the two components must be greater than or equal to 9.5 marks (on a scale of 0 to 20).

Bibliography
- Ogata, K. (1994). Discrete-time Control Systems. USA: Prentice-Hall
- Wittenmark, H. e Astrom, K. (1997). Computer-controlled systems: theory and design. USA: Prentice-Hall
- Workman, M. e Powell, D. e Franklin, G. (1998). Digital Control of Dynamic Systems. USA: Addison-Wesley

Teaching Method
Lectures supported by illustrative cases. Theoretical-practical lessons focused on concept application and problem-solving. Practical works proposed to the students.

Software used in class