Optimal and Robust Control

The main goal of the semestral project is to give you an opportunity to get some hands-on experience with the new methods and tools while working on a bit more complex problem than what the weekly homework assignments offer.

Some of the proposed projects are backed up by a laboratory experiment. Depending on the pandemic situations, you may be given an opportunity to work in the lab (at least those members of the team for whom it is realizable and acceptable to visit the lab under current restrictions). But the projects can also be base purely on simulation models.

You can also come up with your own project. If you choose the latter option, please consult the proposed project with your teacher.

Organization

Team work, teams of 4-5. One suggestion for the organization of the team work is that every team member can design a controller of a different structure than the other members of the team. For instance, one member can design a reference tracking LQR, one an MPC and one a robust controller using Hinf optimization.

Each team or individual has to submit a report organized as follows:

• A very brief description of the laboratory model and the mathematical model you used (a common part for the whole team)
• Design of a controller (written by each member)
• Discussion of the performance of your controller with the aid of figures showing the measured responses (written by each member)

The benefit of working in a team is that you can share the load of writing the first part of the report---a common for the whole team.

Grading

Your solution will be either graded as sufficient or as insufficient. We will not grade individual controllers, we will grade the report as a whole. Thus all members of a team will get the same grade. You will have two attempts to submit your solution, so even if you fail to design your controllers for the first time or write a satisfactory report, you will have one more chance.