Lectures
There are 14 lectures, all given in the lecture hall. The slides used in the lectures will be posted below at least one day before the lecture. Note that the lectures will combine blackboard and slides and hence all slides will not always be shown in the lecture. For each lecture there are also lecture notes available, and these will be posted below at latest a week before the lecture.
There is an open discussion group to post questions and discuss topics related to what has been covered in the lectures.
The references given below are to the main course book by Glad and Ljung. Since many students prefer the alternative course book by Skogestad and Postlethwaite, corresponding references for this book are also provided. Download provided.
Schedule
| Lecture | Time | Lecture Hall | Content | Slides | Lecture Notes | References Textbook | Discussion Group | Videos from 2020/21 |
| Lec 1 | Mon 240318 08-10 | B1 | Introduction; Signal and system norms, Small Gain Theorem | lec01-2024 handout.pdf Download lec01-2024 handout.pdf | Lec_notes_1.pdf Download Lec_notes_1.pdf | Ch 1 | Lecture Topics | Video 1 |
| Lec 2 | Wed 240320 10-12 | B3 | The closed-loop system | lec02-2024.pdf Download lec02-2024.pdf | Lec_notes_2.pdf Download Lec_notes_2.pdf | Ch 6 | Lecture Topics | Video 2 |
| Lec 3 | Mon 240325 08-10 | B1 | Robustness | lec03_2024.pdf Download lec03_2024.pdf | Lec_notes_3.pdf Download Lec_notes_3.pdf | Ch 6 | Lecture Topics |
Video 3 part 1part 2 |
| Lec 4 | Wed 240327 10-12 | B3 | Limitations and conflicts | lec04_2024.pdf Download lec04_2024.pdf | Ch 7 | Lecture Topics | Video 4 | |
| Lec 5 | Mon 240408 08-10 | B2 | MIMO systems: decentralized control and decoupling | lec05_2024.pdf Download lec05_2024.pdf | Lec_notes_5.pdf Download Lec_notes_5.pdf | Ch 2, 3, 8.1-8.3 | Lecture Topics |
Video 5 part 1 part 2 |
| Lec 6 | Mon 240415 08-10 | B1 | Fundamental limitations in MIMO systems | lec06-2024.pdf Download lec06-2024.pdf | Lec_notes_6.pdf Download Lec_notes_6.pdf | Ch 6-8 | Lecture Topics | Video 6 |
| Lec 7 | Wed 240417 10-12 | K2 | MIMO robust stability, Multivariable loop shaping, H_infinity optimal control | Lec7_2024.pdf Download Lec7_2024.pdf | Lec_notes_7.pdf Download Lec_notes_7.pdf | Ch 10.1-10.2, 10.4 | Lecture Topics | Video 7 |
| Lec 8 | Wed 240424 10-12 | D2 | Linear Quadratic Optimal Control (LQG) | lec08_2024.pdf Download lec08_2024.pdf | Lec_notes_8.pdf Download Lec_notes_8.pdf | Ch 5.1-5.4, 9.1-9.3, 9.A | Lecture Topics | Video 8 part 1 2 3 |
| Lec 9 | Mon 240429 08-10 | B1 | LQG cont'd, H_2-optimal control | Lec09_2024.pdf Download Lec09_2024.pdf | Lec_notes_9.pdf Download Lec_notes_9.pdf | Ch 10.1-10.3 | Lecture Topics | Video 9 |
| Lec 10 | Tue 240430 15-17 | V1 | Glover-McFarlane robust loop shaping, model reduction | Lec10_2024.pdf Download Lec10_2024.pdf | Lec_notes_10.pdf Download Lec_notes_10.pdf | Ch 10.4, 3.6 | Lecture Topics | Video 10 |
| Lec 11 | Mon 240506 10-12 | V1 | Controller synthesis - comparison of methods, design example | no lecture notes | Ch 10.3 | Lecture Topics | ||
| Lec 12 |
Wed 240508 13-15 |
B1 | Introduction to MPC | lec12_2024.pdf Download lec12_2024.pdf | Lec_notes_12.pdf Download Lec_notes_12.pdf | Ch 2.2, 3.7, 4, 16 | Lecture Topics | Video 12 part 1 part 2 |
| Lec 13 | Wed 240515 10-12 | Zoom Links to an external site. | Dealing with hard constraints | lec13_2024.pdf Download lec13_2024.pdf | Lec_notes_13.pdf Download Lec_notes_13.pdf | Ch 15.2 | Lecture Topics | Video 13 |
| Lec 14 | Thu 240516 08-10 | B3 | Summary | lec14_2024.pdf Download lec14_2024.pdf | Lecture Topics |