Prerequisite/Recommended prerequisite for participation in the module

Linear control theory, numerical methods, optimization theory

Content, progress and pedagogy of the module

Purpose
The course purpose is to contribute to students’ attainment of knowledge and comprehension of the fundamental knowledge of advanced control with adaptive mechanisms and optimal control techniques. 

Content
Adaptive control:

• Introduction to adaptive control
• Typical adaptive control principles and methods
  • Feed-forward adaptive control and feedback adaptive control
• Feedback adaptive control
  • Gain scheduling
  • Model Reference Adaptive Control (MRAC)
    • Gradient optimization MRAC’s
    • Stability optimized MRAC’s
  • Model identification adaptive control
  • Parametric adaptive control
    • Explicit parameter adaptive control
    • Implicit parameter adaptive control
  • Multiple model adaptive control
  • Self-tuning regulators

 Optimal Control:

• Review of optimal control principles
• Infinite horizon optimization: Linear Quadratic (LQ) control
  • Standard problem formulation
  • Solutions and Riccati equations
  • Discrete-time  LQ control
  • Linear quadratic Gaussian (LQG)control
  •  Application examples
• Finite horizon optimization (I): Minimum Variance Control (MVC)
  • Problem formulation for SISO systems
  • Solution and its properties
  • Generalized MVC
  • Offset problem
  • Self-tuning MVC
• Finite horizon optimization (II): Model predictive Control (MPC)
  • Principles of MPC
  • Typical MPC schemes based on different models
  • Numerical computation algorithms
  • Nonlinear MPC
  • Commercial software and examples
•  Adaptive MPC
  • Principles of adaptive MPC
  • Typical algorithms

Learning objectives

Knowledge

• Have comprehension of the fundamental principles of typical adaptive control methods
• Have comprehension of the fundamental principles of typical optimal control methods

Skills

• Be able to use different adaptive and optimal control algorithms.
• Be able to apply some typical adaptive/optimal control methods to solve some specific linear control problems under the assistance of available computation software

Competences

• Independently be able to define and analyze scientific problems within the area of adaptive and optimal control.
• Independently be able to be a part of professional and interdisciplinary development work within the area of adaptive and optimal control.

Type of instruction

The program is based on a combination of academic, problem-oriented and interdisciplinary approaches and organized based on the following work and evaluation methods that combine skills and reflection: • Lectures • Classroom instruction • Project work • Workshops • Exercises (individually and in groups) • Teacher feedback • Reflection • Portfolio work

Extent and expected workload

Since it is a 5 ECTS course module, the work load is expected to be 150 hours for the student

Exam

Exams

Name of exam	Adaptive and Optimal Control
Type of exam	Written or oral examination
ECTS	5
Permitted aids	With certain aids, see list below Unless otherwise stated in the course description in Moodle, it is permitted to bring all kinds of (engineering) aids including books, notes and advanced calculators. If the student brings a computer, it is not permitted to have access to the Internet and the teaching materials from Moodle must therefore be down loaded in advance on the computer. It is emphasized that no form of electronic communication must take place.
Assessment	7-point grading scale
Type of grading	Internal examination
Criteria of assessment	As stated in the Joint Programme Regulations. http:/​/​www.engineering.aau.dk/​uddannelse/​studieadministration/​

Additional information

Elective course
On this semester two courses must be chosen out of three elective courses (total: 10 ECTS).