Semester Offering: January

This course is aimed at giving the students an overview on some advanced topics in the automatic control field providing them with the basic knowledge required for dealing with more complex control problems.


Overview of system identification, optimal control theory, linear quadratic control, robust control, adaptive control.


AT74.02 Control Theory


I.             Optimal Observer Design
1.      Controllability and Observability
2.      State feedback
3.      State Estimator – Luenberger Observer
4.      Kalman – Bucy Filter
5.      Separation Principle
II.          Linear Quadratic Control
1.      Linear Quadratic Regulator Problem
2.      Linear Quadratic Gaussian Problem
III.       Robust H¥ Control
1.      Uncertainty Description
2.      Performance Specification and Robustness
3.      Small Gain Theorem
4.      H¥ Control
IV.       System Identification
1.      Parameter Identifiability
2.      Identification of Systems from Input-Output Data
3.      Identification Algorithms: Least Squares and Weighted Least Squares
4.      Estimates Reliability: The Parameter Covariance Matrix
5.      Maximum Likelihood Estimates
V.          Adaptive Systems
1.      Adaptive Control Problem
2.      Gain Scheduling
3.      Model Reference Adaptive Systems
4.      Self Tuning Regulators


Lecture Notes


V.N. Afanas'ev, V.B. Kolmanovskii and V.R. Nosov: Mathematical Theory of Control Systems Design, 1996.
K.J. Åström, and B. Wittemark: Computer Controlled Systems Theory and Design, Prentice Hall, 1997.
W.L. Brogan: Modern Control Theory, Prentice Hall International Editions, 1991.
T. Chen, and B. Francis: Optimal Sampled-Data Control Systems, Springer-Verlag London Limited 1995, 2nd Printing, 1996.
J.C. Doyle, B.A. Francis, and A.R. Tannenbaum: Feedback Control Theory, Macwillam Publishing Company, 1992.
M. Green, and D.J.N. Limebeer: Linear Robust Control, Prentice Hall International Editions, 1995.
K. Ogata: Discrete Time Control Systems, Prentice Hall, 1995.
B. Shahian, and M. Hassul: Control System Design Using MATHALAB, Prentice Hall International.
W.A. Wolovich: Automatic Control Systems, Basic Analysis and Design, 1994.


IEEE Transactions on Automation Control
SIAM Journal on Control


The final grade will be computed according to the following weight distribution: 
Midsem exam 30%
Final exam 40%
Lab. assignments and projects 30%
Open book examinations are usually given in both mid-semester and final.