## Florian Dörfler: Catalogue data in Autumn Semester 2021 |

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 | http://people.ee.ethz.ch/~floriand/ |

Department | Information Technology and Electrical Engineering |

Relationship | Associate 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. | ||||

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. | ||||

Literature | K. J. Aström & R. Murray. Feedback Systems: An Introduction for Scientists and Engineers. Princeton University Press, 2010. R. C. Dorf and R. H. Bishop. Modern Control Systems. Prentice Hall, New Jersey, 2007. G. F. Franklin, J. D. Powell, and A. Emami-Naeini. Feedback Control of Dynamic Systems. Addison-Wesley, 2010. J. Lunze. Regelungstechnik 1. Springer, Berlin, 2014. J. Lunze. Regelungstechnik 2. Springer, Berlin, 2014. | ||||

Prerequisites / Notice | Prerequisites: Signal and Systems Theory II. MATLAB is used for system analysis and simulation. | ||||

227-0103-00L | Control Systems | 6 credits | 2V + 2U | 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. | ||||

Objective | |||||

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. | ||||

Literature | K. J. Aström & R. Murray. Feedback Systems: An Introduction for Scientists and Engineers. Princeton University Press, 2010. R. C. Dorf and R. H. Bishop. Modern Control Systems. Prentice Hall, New Jersey, 2007. G. F. Franklin, J. D. Powell, and A. Emami-Naeini. Feedback Control of Dynamic Systems. Addison-Wesley, 2010. J. Lunze. Regelungstechnik 1. Springer, Berlin, 2014. J. Lunze. Regelungstechnik 2. Springer, Berlin, 2014. | ||||

Prerequisites / Notice | Prerequisites: Signal and Systems Theory II. MATLAB is used for system analysis and simulation. | ||||

227-0920-00L | Seminar in Systems and Control | 0 credits | 1S | F. Dörfler, R. D'Andrea, E. Frazzoli, M. H. Khammash, J. Lygeros, R. Smith | |

Abstract | Current topics in Systems and Control presented mostly by external speakers from academia and industry | ||||

Objective | see above |