John Lygeros: Catalogue data in Spring Semester 2022 |  |
| Name | Prof. Dr. John Lygeros |
| Field | Control and Computation |
| Address | Institut für Automatik ETH Zürich, ETL I 22 Physikstrasse 3 8092 Zürich SWITZERLAND |
| Telephone | +41 44 632 89 70 |
| jlygeros@ethz.ch | |
| URL | http://control.ee.ethz.ch/people/profile.john-lygeros.html |
| Department | Information Technology and Electrical Engineering |
| Relationship | Full Professor |
| Number | Title | ECTS | Hours | Lecturers | |||||||||||||||||||||||
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| 227-0046-10L | Signals and Systems II | 4 credits | 2V + 2U | J. Lygeros | |||||||||||||||||||||||
| Abstract | Continuous and discrete time linear system theory, state space methods, frequency domain methods, controllability, observability, stability. | ||||||||||||||||||||||||||
| Objective | Introduction to basic concepts of system theory. | ||||||||||||||||||||||||||
| Content | Modeling and classification of dynamical systems. Modeling of linear, time invariant systems by state equations. Solution of state equations by time domain and Laplace methods. Stability, controllability and observability analysis. Frequency domain description, Bode and Nyquist plots. Sampled data and discrete time systems. Advanced topics: Nonlinear systems, chaos, discrete event systems, hybrid systems. | ||||||||||||||||||||||||||
| Lecture notes | Copy of transparencies | ||||||||||||||||||||||||||
| Literature | Recommended: K.J. Astrom and R. Murray, "Feedback Systems: An Introduction for Scientists and Engineers", Princeton University Press 2009 http://www.cds.caltech.edu/~murray/amwiki/ | ||||||||||||||||||||||||||
| 227-0085-21L | Projects & Seminars: Quad-Rotors: Control and Estimation   Only for Electrical Engineering and Information Technology BSc. The course unit can only be taken once. Repeated enrollment in a later semester is not creditable. | 2 credits | 2P | J. Lygeros | |||||||||||||||||||||||
| Abstract | The category of "Laboratory Courses, Projects, Seminars" includes courses and laboratories in various formats designed to impart practical knowledge and skills. Moreover, these classes encourage independent experimentation and design, allow for explorative learning and teach the methodology of project work. | ||||||||||||||||||||||||||
| Objective | In the first half of the P&S, we will introduce the physical model for a quad-rotor and use this to apply the control and estimation techniques that are taught in the 5th semester in the Control Systems 1 (CS1) class. The students will then create their own control functions for a quad-rotor and test these in simulation. The second half of the course will involve the students implementing the control and estimation algorithms they design in the real-world on our fleet of nano-quad-rotors. Once stable flight is achieved, the students will have the freedom to perform tasks with the quad-rotor. By implementing the control and estimation algorithms on a real quad-rotor, the students will gain experience in how decisions in the modelling and design stage affect real-world performance. The simulations will be coded in MATLAB, and the real-world implementation in C++. Important Information: Students must be in the 6th semester. The first class will be on Wednesday, March 2 for all students. Classes will then occur every second week. The students will be split into two groups and the classes for each group will occur on alternating weeks. It is preferable to have taken the Control Systems 1 (CS1) course but not mandatory. Those students who did not take CS1 will need to complete some extra reading to understand some aspects of this P&S. In case COVID-19 prevents in-person teaching, the course will be offered in an online setting with classes being held over Zoom. In this case, the students will be able to take a real-world quad-rotor to their homes in order to implement the control and estimation algorithms taught in the course. | ||||||||||||||||||||||||||
| Competencies |
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| 227-0085-24L | Projects & Seminars: Vision and Control in RoboCup Only for Electrical Engineering and Information Technology BSc. The course unit can only be taken once. Repeated enrollment in a later semester is not creditable. | 3 credits | 1P | J. Lygeros, L. Van Gool, F. Yu | |||||||||||||||||||||||
| Abstract | The category of "Laboratory Courses, Projects, Seminars" includes courses and laboratories in various formats designed to impart practical knowledge and skills. Moreover, these classes encourage independent experimentation and design, allow for explorative learning and teach the methodology of project work. | ||||||||||||||||||||||||||
| Objective | Vision and Control in RoboCup is jointly offered by Prof. John Lygeros (IFA) and Prof. Luc Van Gool (CVL). RoboCup is a tournament where teams of autonomous robots compete in soccer matches against each other. The ETH team NomadZ plays in the standard platform league with the humanoid NAO robot, where the focus lies on developing robust and efficient algorithms for vision, control and behavior. In this course, the basic challenges we encounter in RoboCup are presented and approached in practical exercises using MATLAB and Python. The topics cover visual localization, deep learning for object detection and reinforcement learning for control. The course is offered to students of the 5th semester. | ||||||||||||||||||||||||||
| 227-0680-00L | Building Control and Automation MIBS: This course must be taken in the first year of coursework. | 3 credits | 2V + 2U | V. Behrunani, J. Lygeros, C. Gähler, R. Smith, M. Yazdanie | |||||||||||||||||||||||
| Abstract | Introduction to basic concepts from automatic control theory and their application to the control and automation of buildings. | ||||||||||||||||||||||||||
| Objective | Introduce students to fundamental concepts from control theory: State space models, feedback. Demonstrate the application of these concepts to building control for energy efficiency and other objectives. | ||||||||||||||||||||||||||
| Content | Introduction to modeling State space models and differential equations Laplace transforms and basic feedback control Discrete time systems Model predictive control for building climate regulation Regulating building energy consumption and energy hub concepts Practical implementation of Building Automation (BA) systems: - Energy-efficient control of room air quality, heating and cooling, domestic hot water, shading, etc. - Stability and robustness; Cascaded control | ||||||||||||||||||||||||||
| Prerequisites / Notice | Exposure to ordinary differential equations and Laplace transforms. | ||||||||||||||||||||||||||
| 227-0920-00L | Seminar in Systems and Control | 0 credits | 1S | S. Bolognani, R. D'Andrea, J. Lygeros, R. Smith | |||||||||||||||||||||||
| Abstract | Current topics in Systems and Control presented mostly by external speakers from academia and industry. | ||||||||||||||||||||||||||
| Objective | see above | ||||||||||||||||||||||||||
| 401-5850-00L | Seminar in Systems and Control for CSE | 4 credits | 2S | J. Lygeros | |||||||||||||||||||||||
| Abstract | Course based on individual study. Short projects involving literature review, possibly simple research tasks. | ||||||||||||||||||||||||||
| Objective | Introduce students to state of the art research in systems and control. | ||||||||||||||||||||||||||