Control System Design

State-space description of single-input, single-output linear dynamic systems, interconnections, block diagrams

Linearization, equilibria, stability, Lyapunov functions and the Lyapunov equation

Dynamic response, relation to modes, the matrix exponential

Realization of transfer function models by state space descriptions, coordinate changes, canonical forms

Controllability, stabilizability, uncontrollable modes and pole-placement by state-feedback

Application of LQ regulator

Observability, detectability, unobservable modes, state-estimation observer design

Output feedback synthesis and separation principle

Reference signal modeling, integral action for zero steady-state error.

Analysis in robust stability and robust performance.

Basics of model predictive control (MPC). Different model-structures.

Prediction models in state-space setting. Standard predictive control scheme. Relation standard form with GPC, LQPC and other predictive control schemes. Solution of the standard predictive control problem. Stability of MPC.