Manfred Morari: Catalogue data in Autumn Semester 2014 |
Name | Prof. em. Dr. Manfred Morari |
Field | Automatik |
Address | Institut für Automatik ETH Zürich, ETL I 29 Physikstrasse 3 8092 Zürich SWITZERLAND |
Telephone | +41 44 632 76 26 |
Fax | +41 44 632 12 11 |
morari@control.ee.ethz.ch | |
URL | http://control.ethz.ch |
Department | Information Technology and Electrical Engineering |
Relationship | Professor emeritus |
Number | Title | ECTS | Hours | Lecturers | |
---|---|---|---|---|---|
227-0103-AAL | Control Systems Enrolment only for MSc students who need this course as additional requirement. | 6 credits | 8R | M. Morari | |
Abstract | Study of concepts and methods for the mathematical description and analysis of dynamical systems. The concept of feedback. Design of control systems for single input - single output and multivariable systems. | ||||
Objective | Study of concepts and methods for the mathematical description and analysis of dynamical systems. The concept of feedback. Design of control systems for single input - single output and multivariable systems. | ||||
Content | Process automation, concept of control. Modelling of dynamical systems - examples, state space description, linearisation, analytical/numerical solution. Laplace transform, system response for first and second order systems - effect of additional poles and zeros. Closed-loop control - idea of feedback. PID control, Ziegler - Nichols tuning. Stability, Routh-Hurwitz criterion, root locus, frequency response, Bode diagram, Bode gain/phase relationship, controller design via "loop shaping", Nyquist criterion. Feedforward compensation, cascade control. Multivariable systems (transfer matrix, state space representation), multi-loop control, problem of coupling, Relative Gain Array, decoupling, sensitivity to model uncertainty. State space representation (modal description, controllability, control canonical form, observer canonical form), state feedback, pole placement - choice of poles. Observer, observability, duality, separation principle. LQ Regulator, optimal state estimation. | ||||
Lecture notes | Slides can be downloaded from the course website. A printed version with additional content is offered via SPOD (student print on demand) for a fee (ca. 15-20 CHF). | ||||
Literature | G.F. Franklin, J.D. Powell, A. Emami-Naeini. Feedback Control of Dynamic Systems. 6th edition, Prentice Hall, Version 2009, Reading, ISBN 978-0-1350-150-9.Softcover student's edition ca. CHF 120.-. (Spring 2014) | ||||
Prerequisites / Notice | Prerequisites: Signal and Systems Theory II. MATLAB is used for system analysis and simulation. | ||||
227-0103-00L | Control Systems | 6 credits | 2V + 2U | M. Morari | |
Abstract | Study of concepts and methods for the mathematical description and analysis of dynamical systems. The concept of feedback. Design of control systems for single input - single output and multivariable systems. | ||||
Objective | Study of concepts and methods for the mathematical description and analysis of dynamical systems. The concept of feedback. Design of control systems for single input - single output and multivariable systems. | ||||
Content | Process automation, concept of control. Modelling of dynamical systems - examples, state space description, linearisation, analytical/numerical solution. Laplace transform, system response for first and second order systems - effect of additional poles and zeros. Closed-loop control - idea of feedback. PID control, Ziegler - Nichols tuning. Stability, Routh-Hurwitz criterion, root locus, frequency response, Bode diagram, Bode gain/phase relationship, controller design via "loop shaping", Nyquist criterion. Feedforward compensation, cascade control. Multivariable systems (transfer matrix, state space representation), multi-loop control, problem of coupling, Relative Gain Array, decoupling, sensitivity to model uncertainty. State space representation (modal description, controllability, control canonical form, observer canonical form), state feedback, pole placement - choice of poles. Observer, observability, duality, separation principle. LQ Regulator, optimal state estimation. | ||||
Literature | G.F. Franklin, J.D. Powell, A. Emami-Naeini. Feedback Control of Dynamic Systems. 6th edition, Prentice Hall, Version 2009, Reading, ISBN 978-0-1350-150-9.Softcover student's edition ca. CHF 110.-. (Spring 2013) | ||||
Prerequisites / Notice | Prerequisites: Signal and Systems Theory II. MATLAB is used for system analysis and simulation. | ||||
227-0920-00L | Seminar in Systems and Control | 0 credits | 1S | M. Morari, R. D'Andrea, L. Guzzella, J. Lygeros, R. Smith | |
Abstract | Current topics in Systems and Control presented mostly by external speakers from academia and industry | ||||
Objective | see above | ||||
401-5900-00L | Optimization and Applications | 0 credits | 1K | R. Weismantel, B. Gärtner, D. Klatte, J. Lygeros, M. Morari, K. Schmedders, R. Smith, R. Zenklusen | |
Abstract | Lectures on current topics in optimization | ||||
Objective | Expose graduate students to ongoing research acitivites (including applications) in the domain of otimization. | ||||
Content | This seminar is a forum for researchers interested in optimization theory and its applications. Speakers, invited from both academic and non-academic institutions, are expected to stimulate discussions on theoretical and applied aspects of optimization and related subjects. The focus is on efficient (or practical) algorithms for continuous and discrete optimization problems, complexity analysis of algorithms and associated decision problems, approximation algorithms, mathematical modeling and solution procedures for real-world optimization problems in science, engineering, industries, public sectors etc. |