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Chapter 3 - Optial Control

This document outlines the course details for an Advance Control Theory lecture given by Dr. Van-Phong Vu. The course covers four chapters: introduction to nonlinear control systems, optimal control, robust control, and applications of these topics. Assessment will be based on assignments, a midterm test, project presentation, and attendance. Key concepts covered include Lyapunov theory, sliding mode control, Linear Quadratic Regulator (LQR) control, Kalman filtering, and Linear Quadratic Gaussian (LQG) control. Office hours and contact information are provided for Dr. Vu.

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Nguyễn Minh Tuấn
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24 views41 pages

Chapter 3 - Optial Control

This document outlines the course details for an Advance Control Theory lecture given by Dr. Van-Phong Vu. The course covers four chapters: introduction to nonlinear control systems, optimal control, robust control, and applications of these topics. Assessment will be based on assignments, a midterm test, project presentation, and attendance. Key concepts covered include Lyapunov theory, sliding mode control, Linear Quadratic Regulator (LQR) control, Kalman filtering, and Linear Quadratic Gaussian (LQG) control. Office hours and contact information are provided for Dr. Vu.

Uploaded by

Nguyễn Minh Tuấn
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Advance Control

Theory
Lecturer: VU VAN PHONG

Dr. Van-Phong Vu-Department of Automatic Control


 Instructor: Dr. Vu Van Phong
 Email: [email protected]
 Phone: 0981479507
 Websites: https://phongvuac.wixsite.com/vuphong/

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


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 ( Bài giảng thầy Huỳnh Thái Hoàng)
 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 3: Optimal Control

Dr. Van-Phong Vu-Department of Automatic Control


3.1 Introduction

Dr. Van-Phong Vu-Department of Automatic Control


3.1 Introduction
 Classification:

Dr. Van-Phong Vu-Department of Automatic Control


3.1 Introduction
 Applications:

Dr. Van-Phong Vu-Department of Automatic Control


3.2 Tối ưu tĩnh
 Tối ưu hóa tĩnh không ràng buộc

Dr. Van-Phong Vu-Department of Automatic Control


3.2 Tối ưu tĩnh
 Applications:

Dr. Van-Phong Vu-Department of Automatic Control


LQR

Dr. Van-Phong Vu-Department of Automatic Control


3.2 Linear Quadratic Regular
Initial state Desired states
What is optimal trip??

Cost function: J=Q*time+R*fee


Time/minute Fee/USD
Q R

20 1 7 27
1

1 75 1 0 75

1 30 1 2 32

1 400 404
Dr. Van-Phong Vu-Department of Automatic Control 1 4
3.2 Linear Quadratic Regular (LQR)
 Bài toán liên tục

Dr. Van-Phong Vu-Department of Automatic Control


3.2 Linear Quadratic Regular (LQR)

Dr. Van-Phong Vu-Department of Automatic Control


3.2 Linear Quadratic Regular (LQR)
 Applications:

Dr. Van-Phong Vu-Department of Automatic Control


3.2 Linear Quadratic Regular (LQR)
 Applications:

Dr. Van-Phong Vu-Department of Automatic Control


3.2 Linear Quadratic Regular (LQR)
 Bài toán LQR liên tục thời gian vô hạn

Dr. Van-Phong Vu-Department of Automatic Control


3.2 Linear Quadratic Regular (LQR)
 Example 1:

Dr. Van-Phong Vu-Department of Automatic Control


3.2 Linear Quadratic Regular (LQR)
 Example 2:

Dr. Van-Phong Vu-Department of Automatic Control


3.2 Linear Quadratic Regular (LQR)
 Example 2:

Dr. Van-Phong Vu-Department of Automatic Control


3.2 Linear Quadratic Regular (LQR)
 Example 2

Dr. Van-Phong Vu-Department of Automatic Control


3.2 Linear Quadratic Regular (LQR)
 Example 3:

Dr. Van-Phong Vu-Department of Automatic Control


3.2 Linear Quadratic Regular (LQR)
 Example 3:

Dr. Van-Phong Vu-Department of Automatic Control


3.2 Linear Quadratic Regular (LQR)
 Example 3:

Dr. Van-Phong Vu-Department of Automatic Control


3.2 Linear Quadratic Regular (LQR)
 Matlab:

Dr. Van-Phong Vu-Department of Automatic Control


Kalman Filter

Dr. Van-Phong Vu-Department of Automatic Control


3.3 Kalman Filter

Dr. Van-Phong Vu-Department of Automatic Control


3.3 Kalman Filter

Dr. Van-Phong Vu-Department of Automatic Control


3.3 Kalman Filter

Dr. Van-Phong Vu-Department of Automatic Control


3.3 Kalman Filter

Dr. Van-Phong Vu-Department of Automatic Control


3.3 Kalman Filter

Dr. Van-Phong Vu-Department of Automatic Control


3.3 Kalman Filter

Dr. Van-Phong Vu-Department of Automatic Control


LQG
Linear Quadratic Gaussian

Dr. Van-Phong Vu-Department of Automatic Control


3.4 LQG

Dr. Van-Phong Vu-Department of Automatic Control


3.4 LQG

Dr. Van-Phong Vu-Department of Automatic Control


3.4 LQG

Dr. Van-Phong Vu-Department of Automatic Control


3.4 LQG

Dr. Van-Phong Vu-Department of Automatic Control


3.3 Kalman Filter

Dr. Van-Phong Vu-Department of Automatic Control


3.3 Kalman Filter

Dr. Van-Phong Vu-Department of Automatic Control


Thank You For Your Listening

Dr. Van-Phong Vu-Department of Automatic Control

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