Advance Control
Theory
Lecturer: VU VAN PHONG
Dr. Van-Phong Vu-Department of Automatic Control
Instructor: Dr. Vu Van Phong
Email: phongvv@[Link]
Phone: 0981479507
Websites: [Link]
Dr. Van-Phong Vu-Department of Automatic Control
Rules in Class
Attend at least 80% of class hours
Complete all homeworks and assignments (If any)
Dr. Van-Phong Vu-Department of Automatic Control
Assessment
Assignment (50%)
One assignment/homework. (20%)
One midterm test (20%)
Attendance (10%)
Final Project (50%)
Student have to complete a small project and present in the class.
Dr. Van-Phong Vu-Department of Automatic Control
Textbook and References
[1] Linear Robust control, Michael Green, David J.N. Limebeer, Pearson
Education
[2] Nonlinear system: Analysis, Stability, and Control, Sharnkar Sátry,
Springer, 1999.
[3] D. L. Smith, Introduction to Dynamic Systems Modeling for Design,
Prentice-Hall, 1994.
[4] L. Ljung, System Identification – Theory for the users, 2 nd Edition,
Prentice-Hall, 1999.
[5] R. Johansson, System Modeling and Identification, Prentice-Hall, 1993.
[6] L. Ljung, System Identification Toolbox TM Getting Started Guide in
Matlab, The MathWorks, Inc, 2016
Dr. Van-Phong Vu-Department of Automatic Control
Contents of This course
Chapter 1: Introduction
Chapter 2: Nonlinear control system
2.1 Nonlinear system
2.2 Lyapunov Theory
2.3 Sliding mode control
Chapter 3: Optimal Control
3.1 LQR Controller
3.2 Kalman filter
3.3 LQG controller
Chapter 4: Robust Control
4.1 H-infinite controller
Dr. Van-Phong Vu-Department of Automatic Control
Chapter 1: Introduction
Dr. Van-Phong Vu-Department of Automatic Control
Contents of Chapter 1
1.1 Purpose of this course
1.2 Introduction of nonlinear control system
1.3 Introduction of Optimal Control
1.4 Introduction of Robust control
1.5 Introduction of Adaptive control
Dr. Van-Phong Vu-Department of Automatic Control
1.1 Purpose of this course
Purpose:
Understand the nonlinear system
Understand and apply the Lyapunov theory for design both
controller and observer.
Design the sliding mode controller
Design the robust controller
Design the Optimal Controller (LQR, LQG)
Dr. Van-Phong Vu-Department of Automatic Control
1.2 Nonlinear System
Almost the system in practice is expressed under the nonlinear
form.
The nonlinear control system was introduced from 19 century.
After 1960, Nonlinear control system is significantly developed
Dr. Van-Phong Vu-Department of Automatic Control
1.2 Nonlinear System
Method to analyze the nonlinear systems:
Phương pháp mặt phẳng pha
Phương pháp mô tả
Phương pháp ổn định Lyapunov
Phương pháp ổn định Popov
Phương pháp độ lợi bé
Phương pháp thụ động
Dr. Van-Phong Vu-Department of Automatic Control
1.2 Nonlinear System
Methods to design controller:
Sliding mode controller ( điều khiển trượt)
Backstepping control ( điều khiển cuốn chiếu)
Dr. Van-Phong Vu-Department of Automatic Control
1.3 Optimal control
Dr. Van-Phong Vu-Department of Automatic Control
1.4 Adaptive control
Dr. Van-Phong Vu-Department of Automatic Control
1.4 Adaptive control
Dr. Van-Phong Vu-Department of Automatic Control
1.5 Robust control
Dr. Van-Phong Vu-Department of Automatic Control
1.5 Robust control
Dr. Van-Phong Vu-Department of Automatic Control
Example
Dr. Van-Phong Vu-Department of Automatic Control
Example
Dr. Van-Phong Vu-Department of Automatic Control
Example
Dr. Van-Phong Vu-Department of Automatic Control
Application in practice
Dr. Van-Phong Vu-Department of Automatic Control
Example
Dr. Van-Phong Vu-Department of Automatic Control
Example
Dr. Van-Phong Vu-Department of Automatic Control
Thank You For Your Listening
Dr. Van-Phong Vu-Department of Automatic Control