Florian Dörfler: Catalogue data in Spring Semester 2017 |
| 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 | https://dorfler.ethz.ch |
| Department | Information Technology and Electrical Engineering |
| Relationship | Full Professor |
| Number | Title | ECTS | Hours | Lecturers | |
|---|---|---|---|---|---|
| 227-0103-AAL | Control Systems  Enrolment 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. | ||||
| Learning 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. | ||||
| Lecture notes | A copy of the lecture slides can be obtained from Student Print on Demand (SPOD) for CHF 11. www.spod.ethz.ch Exercise material is available for download at the Control Systems webpage www.control.ee.ethz.ch/~rs or in the exercise sessions. | ||||
| 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 | ||||
| 227-0690-08L | Advanced Topics in Control (Spring 2017) New topics are introduced every year. | 4 credits | 2V + 2U | F. Dörfler, B. Gentile | |
| Abstract | This class will introduce students to advanced, research level topics in the area of automatic control. Coverage varies from semester to semester, repetition for credit is possible, upon consent of the instructor. During the Spring Semester 2016 the class will concentrate on distributed systems and control. | ||||
| Learning objective | The intent is to introduce students to advanced research level topics in the area of automatic control. The course is jointly organized by Prof. R. D'Andrea, L. Guzzella, J. Lygeros, M. Morari, R. Smith, and F. Dörfler. Coverage and instructor varies from semester to semester. Repetition for credit is possible, upon consent of the instructor. During the Spring Semester 2016 the class will be taught by F. Dörfler and will focus on distributed systems and control. | ||||
| 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 the electric power grid, camera networks, and robotic sensor networks. The challenges associated with these systems arise due to their coupled, distributed, and large-scale nature, and due to limited sensing, communication, and control capabilities. This course covers modeling, analysis, and design of distributed control systems. Topics covered in the course include: - the theory of graphs (with an emphasis on algebraic and spectral graph theory); - basic models of multi-agent and interconnected dynamical systems; - continuous-time and discrete-time distributed averaging algorithms (consensus); - coordination algorithms for rendezvous, formation, flocking, and deployment; - applications in robotic coordination, coupled oscillators, social networks, sensor networks, electric power grids, epidemics, and positive systems. | ||||
| Lecture notes | A set of self-contained set of lecture notes will be made available. | ||||
| Literature | Relevant papers and books will be made available through the course website. | ||||
| Prerequisites / Notice | Control systems (227-0216-00L), Linear system theory (227-0225-00L), or equivalents, as well as sufficient mathematical maturity. | ||||
| 227-0920-00L | Seminar in Systems and Control | 0 credits | 1S | F. Dörfler, R. D'Andrea, J. Lygeros, R. Smith | |
| Abstract | Current topics in Systems and Control presented mostly by external speakers from academia and industry. | ||||
| Learning objective | see above | ||||