## Florian Dörfler: Catalogue data in Spring Semester 2021 |

Name | Prof. Dr. Florian Dörfler |

Field | Complex Systems Control |

Address | Professur f. Komplexe Regelsysteme ETH Zürich, ETL I 26 Physikstrasse 3 8092 Zürich SWITZERLAND |

Telephone | +41 44 632 72 88 |

doerfler@control.ee.ethz.ch | |

URL | http://people.ee.ethz.ch/~floriand/ |

Department | Information Technology and Electrical Engineering |

Relationship | Associate Professor |

Number | Title | ECTS | Hours | Lecturers | |
---|---|---|---|---|---|

227-0103-AAL | Control SystemsEnrolment ONLY for MSc students with a decree declaring this course unit as an additional admission requirement. Any other students (e.g. incoming exchange students, doctoral students) CANNOT enrol for this course unit. | 6 credits | 8R | F. Dörfler | |

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 150.-. (Spring 2010) | ||||

Prerequisites / Notice | Prerequisites: Signal and Systems Theory / MATLAB skills | ||||

227-0690-12L | Advanced Topics in Control (Spring 2021)New topics are introduced every year. | 4 credits | 2V + 2U | F. Dörfler, M. Hudoba de Badyn, W. Mei | |

Abstract | Advanced Topics in Control (ATIC) covers advanced research topics in control theory. It is offered each Spring semester with the topic rotating from year to year. Repetition for credit is possible, with consent of the instructor. During the spring of 2020, the course will cover a range of topics in distributed systems control. | ||||

Objective | By the end of this course you will have developed a sound and versatile toolkit to tackle a range of problems in network systems and distributed systems control. In particular, we will develop the methodological foundations of algebraic graph theory, consensus algorithms, and multi-agent systems. Building on top of these foundations we cover a range of problems in epidemic spreading over networks, swarm robotics, sensor networks, opinion dynamics, distributed optimization, and electrical network theory. | ||||

Content | Distributed control systems include large-scale physical systems, engineered multi-agent systems, as well as their interconnection in cyber-physical systems. Representative examples are electric power grids, swarm robotics, sensor networks, and epidemic spreading over networks. The challenges associated with these systems arise due to their coupled, distributed, and large-scale nature, and due to limited sensing, communication, computing, and control capabilities. This course covers algebraic graph theory, consensus algorithms, stability of network systems, distributed optimization, and applications in various domains. | ||||

Lecture notes | A complete set of lecture notes and slides will be provided. | ||||

Literature | The course will be largely based on the following set of lecture notes co-authored by one of the instructors: http://motion.me.ucsb.edu/book-lns/ | ||||

Prerequisites / Notice | Sufficient mathematical maturity, in particular in linear algebra and dynamical systems. | ||||

227-0928-00L | Distinguished Lecture Series in Control Does not take place this semester. | 1 credit | 1V | F. Dörfler | |

Abstract | This seminar introduces students to advanced scientific methods system theory, automatic control and optimization. The seminar is primarily delivered by an external distinguished speaker and its contents will be tailored towards doctoral and research-interested students. The detailed coverage varies every semester. | ||||

Objective | The intent is to introduce students to advanced scientific methods in the areas of system theory, automatic control, and optimization. The seminar is jointly by Prof. F. Dörfler, it will be primarily delivered by an external distinguished speaker, and its contents will be tailored towards doctoral and research-interested students. The detailed coverage varies from semester to semester. During the Spring Semester 2021 the seminar will concentrate on robust and adaptive output regulation of multivariable and hybrid systems, and it will be delivered by Prof. Alberto Isidori and Prof. Lorenzo Marconi. | ||||

Content | In spring 2021 the seminar will concentrate on robust and adaptive output regulation of multivariable and hybrid systems. |