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AUT202 (Mineures STIC / IAC et Méca / SI)

Introduction to a Control Theory

Program 2023-2024

Lecturer:
  • Elena VANNEAUX (ENSTA / U2IS)

Evaluation Modalities:

Each session will be divided into 1.5 hour of lecture followed by 1.5 hour of exercises.
The exercise part will be done in Jupyter Notebooks. The concatenation of these notebooks will result in the final project, presented by the students during the final session.

This course will teach the fundamentals of control design and analysis using state-space methods. This includes both the practical and theoretical aspects of the topic. By the end of the course, you should be able to design controllers using state-space methods and evaluate whether these controllers are robust to certain types of modeling errors. The course will focus on linear control systems. You will learn to:

  • Linearize a nonlinear system and analyze controllability, observability, reachability, and stability.
  • Design controllers using state-space methods and analyze them using classical tools.
  • Design controllers for optimal control problems.
  • Assess the robustness of your control design.

Pre-requirements:

  • The course assumes a good working knowledge of linear algebra and differential equations. The class will cover new material in depth, but a strong background will be necessary.
  • Course material and practical exercises assume a good working knowledge of Python.

SESSION
 CONTENT
 LECTURER RESOURCES
Wednesday 24/1
9:00--12:15
  • CM1: Modeling
    • State-space models of systems. Linearization. Linear time-independent control systems.
 Elena VANNEAUX
Wednesday 31/1
9:00--12:15
  • CM2: Controllability and Observability
    • Controllability and Observability. Kalman's criteria. Normal form.
 Elena VANNEAUX
Wednesday 7/2
9:00--12:15
  • CM3: Stability and State Observer
    • State feedback  Stabilisator. Pole placement. Luenberger observer.
 Elena VANNEAUX
Wednesday 14/2
9:00--12:15
  • CM4: Control design
    • Control design in the frequency domain. PID controller.
 Elena VANNEAUX
Wednesday 28/2
9:00--12:15
  • CM5: Optimal control design
    • LQR controller.
 Elena VANNEAUX
Wednesday 6/3
9:00--12:15
  • CM6: Advanced control techniques
 Elena VANNEAUX
Wednesday 20/3
9:00--12:15
  • Project defense
 Elena VANNEAUX