1. Design an LQ-optimal controller in various settings and some extensions: discrete-time vs. continuous-time, feedback vs. feedforward, finite time horizon vs. infinite time horizon, free final state vs fixed final state, regulation vs tracking of reference signal, LQG, Loop Transfer Recovery (LTR), H2-optimal control.
  2. Design and implement an MPC controller. For the implementation use either your own (simple) QP solver or use one of the available code generators.
  3. Design an optimal reference trajectory for a nonlinear dynamical system using numerical optimization.
  4. Model the uncertainty in a mathematical model of a dynamical system in the frequency-domain model and analyze the robustness (of stability and/or performance) of the closed-loop system with respect to this uncertainty.
  5. Design a controller by minimizing the Hinf system norm. Various variants: mixed-sensitivity minimization, robust Hinf-optimization based loopshaping, mu synthesis.
  6. Analyze the achievable control performance of a given LTI system (SISO and MIMO).
  7. Reduce the order of an LTI model. Reduce the order of a feedback controller.
Naposledy změněno: středa, 17. února 2021, 18.04