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26.11.2022 16:03:22
inf341 - Robust Control and State Estimation (Complete module description)
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Module label Robust Control and State Estimation
Modulkürzel inf341
Credit points 6.0 KP
Workload 180 h
Institute directory Department of Computing Science
Verwendbarkeit des Moduls
  • Master's Programme Business Informatics (Master) > Akzentsetzungsmodule der Informatik
  • Master's Programme Computing Science (Master) > Technische Informatik
Zuständige Personen
Rauh, Andreas (Module responsibility)
Lehrenden, Die im Modul (Prüfungsberechtigt)
Prerequisites
Skills to be acquired in this module
Competencies:
The students identify fundamentals of robust control and state estimation as well as problem-specific solution techniques and their corresponding software implementation.

Professional competences

The students identify fundamentals of robust control and state estimation, characterize problem-specific solution techniques for different classes of uncertainty and are aware of reliable software implementations.

Methological competences
The students analyze problems of robust control and state estimation for dynamic systems, analyze fundamental solution techniques on a theoretical basis, and transfer as well as generalize those independently to new fields of applications.


Social competences
The students develop solution ideas for real-life control problems within an accompanying project in small teams and explain the obtained results in short presentations.

Self competences
The students critically reflect the achieved results of their project work and acknowledge limitations of various approaches for robust control and state estimation.

Module contents
  1. Robustness of linear systems/ system analysis
    • Boundary crossing theorem of Frazer and Duncan
    • Mikhailov criterion
    • Kharitonov criterion
    • Frequency response approaches
  2. Selected control design techniques/ control synthesis
    • Parameter-space approach of Ackermann and Kaesbauer
    • Eigenvalue and eigenvalue domain assignment
    • H-infinity control
    • Frequency response approaches (Sensitivity function approaches in the frequency domain)
  3. Robust LMI-based control techniques
    • Lyapunov stability
    • Polytopic uncertainty modeling
    • Optimality of solutions
  4. Duality between control and observer synthesis
    • Robust state estimation
    • Sliding mode observers
  5. Interval methods: Solution of static and dynamic problems (Enclosing function values, Branch-and-bound techniques, Verification techniques for differential equations)
  6. Fundamentals: Fault detection and fault-tolerant control
Literaturempfehlungen
  1. Ackermann, J. Robust Control, Springer-Verlag, 2002.
  2. Gu, D.-W.; Petkov, P.H.; Konstantinov, M.M., Robust Control Design with MATLAB, Springer-Verlag, 2013
  3. Ostertag, E. Mono- and Multivariable Control and Estimation, Springer-Verlag, 2011
  4. Rauh, A. Folien/ Skript zur Vorlesung „Robuste Regelung und Zustandsschätzung“.
  5. Weinmann, A. Uncertain Models and Robust Control, Springer-Verlag, 1991
Links
Languages of instruction German, English
Duration (semesters) 1 Semester Semester
Module frequency Winter term
Module capacity unlimited
Modullevel / module level AS (Akzentsetzung / Accentuation)
Modulart / typ of module Wahlpflicht / Elective
Lehr-/Lernform / Teaching/Learning method V, Ü, P
Vorkenntnisse / Previous knowledge Grundkenntnisse der Regelung linearer zeitkontinuierlicher und/oder zeitdiskreter Systeme
Form of instruction Comment SWS Frequency Workload of compulsory attendance
Lecture 2 WiSe 2
Project 1 WiSe 1
Exercises 1 WiSe 1
Präsenzzeit Modul insgesamt 4 h
Examination Prüfungszeiten Type of examination
Final exam of module
At the end of the lecture period
Portfolio