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

Lec_notes_4.pdf Download Lec_notes_4.pdf

Stein_IEEECS.pdf Download Stein_IEEECS.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

Lec11_2024.pdf Download Lec11_2024.pdf

ex1.m Download ex1.m

Fy_reduce.m Download Fy_reduce.m

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