Florian Dörfler: Katalogdaten im Frühjahrssemester 2023 |
| Name | Herr Prof. Dr. Florian Dörfler |
| Lehrgebiet | Komplexe Regelsysteme |
| Adresse | Professur f. Komplexe Regelsysteme ETH Zürich, ETL I 26 Physikstrasse 3 8092 Zürich SWITZERLAND |
| Telefon | +41 44 632 72 88 |
| doerfler@control.ee.ethz.ch | |
| URL | https://dorfler.ethz.ch |
| Departement | Informationstechnologie und Elektrotechnik |
| Beziehung | Ordentlicher Professor |
| Nummer | Titel | ECTS | Umfang | Dozierende | ||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 227-0103-AAL | Control Systems 1 Belegung ist NUR erlaubt für MSc Studierende, die diese Lerneinheit als Auflagenfach verfügt haben. Alle anderen Studierenden (u.a. auch Mobilitätsstudierende, Doktorierende) können diese Lerneinheit NICHT belegen. | 6 KP | 8R | F. Dörfler | ||||||||
| Kurzbeschreibung | Vermittlung von fachübergreifenden Konzepten und Methoden zur mathematischen Beschreibung und Analyse von dynamischen Systemen. Konzept der Rückführung, Entwurf von Regelungen für Eingrössen- und Mehrgrössenstrecken. | |||||||||||
| Lernziel | Vermittlung von fachübergreifenden Konzepten und Methoden zur mathematischen Beschreibung und Analyse von dynamischen Systemen. Konzept der Rückführung, Entwurf von Regelungen für Eingrössen- und Mehrgrössenstrecken. | |||||||||||
| Inhalt | Prozessautomatisierung. Prinzip der Regelung. Modellierung dynamischer Systeme - Beispiele, Zustandsraumdarstellung, Linearisierung, analytische/numerische Lösung. Laplace Transformation, Systemantworten für Systeme 1. und 2. Ordnung - Einfluss von zusätzlichen Nullstellen und Polen. Regelkreis-Idee der Rückführung. PID Regler, Ziegler-Nichols Einstellung. Stabilität, Routh-Hurwitz Kriterium, Wurzelortskurve. Frequenzgang, Bode-Diagramm, Bode gain/ phase relationship, Reglerentwurf via "loop- shaping", Nyquist Kriterium. Feedforward Compensation/Störgrössenaufschaltung, Kaskadenregelung. Mehrvariablensysteme (Übertragungsmatrix, Zustandsraumdarstellung), Mehrschlaufenregelung, Problem der Kopplung, Relative Gain Array, Entkopplungskompensator, Sensitivität auf Modellunsicherheit. Zustandsraumdarstellung (Modalform, Steuerbarkeit, control/observer canonical form), Zustandsregelung, Polvor- gabe/Wahl der Pole. Beobachter, Beobachtbarkeit, Dualität, Separationsprinzip. LQ Regulator, Optimale Zustandsschätzung. | |||||||||||
| Literatur | G.F. Franklin, J.D. Powell, A. Emami-Naeini. Feedback Control of Dynamic Systems. 6th edition, Prentice Hall, International Version, 2009, Reading, ISBN 978-0-1350-150-9. Broschierte Studienausgabe CHF 150.-, (Frühjahr 2010). | |||||||||||
| Voraussetzungen / Besonderes | Voraussetzungen: Signal- und Systemtheorie / MATLAB-Kenntnisse | |||||||||||
| 227-0690-12L | Advanced Topics in Control | 4 KP | 2V + 2U | F. Dörfler, M. Hudoba de Badyn | ||||||||
| Kurzbeschreibung | Advanced Topics in Control (ATIC) covers advanced research topics in control theory. It is offered each Spring semester with the topic rotating from year to year. Repetition for credit is possible, with consent of the instructor. During the spring of 2020, the course will cover a range of topics in distributed systems control. | |||||||||||
| Lernziel | By the end of this course you will have developed a sound and versatile toolkit to tackle a range of problems in network systems and distributed systems control. In particular, we will develop the methodological foundations of algebraic graph theory, consensus algorithms, and multi-agent systems. Building on top of these foundations we cover a range of problems in epidemic spreading over networks, swarm robotics, sensor networks, opinion dynamics, distributed optimization, and electrical network theory. | |||||||||||
| Inhalt | Distributed control systems include large-scale physical systems, engineered multi-agent systems, as well as their interconnection in cyber-physical systems. Representative examples are electric power grids, swarm robotics, sensor networks, and epidemic spreading over networks. The challenges associated with these systems arise due to their coupled, distributed, and large-scale nature, and due to limited sensing, communication, computing, and control capabilities. This course covers algebraic graph theory, consensus algorithms, stability of network systems, distributed optimization, and applications in various domains. | |||||||||||
| Skript | A complete set of lecture notes and slides will be provided. | |||||||||||
| Literatur | The course will be largely based on the following set of lecture notes co-authored by one of the instructors: http://motion.me.ucsb.edu/book-lns/ | |||||||||||
| Voraussetzungen / Besonderes | Sufficient mathematical maturity, in particular in linear algebra and dynamical systems. | |||||||||||
| 227-0920-00L | Seminar in Systems and Control Findet dieses Semester nicht statt. | 0 KP | 1S | F. Dörfler, R. D'Andrea, E. Frazzoli, M. H. Khammash, J. Lygeros, R. Smith, M. Zeilinger | ||||||||
| Kurzbeschreibung | Current topics in Systems and Control presented mostly by external speakers from academia and industry. | |||||||||||
| Lernziel | Gain familiarity with the state of the art in control theory and practice. | |||||||||||
Kompetenzen |
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| 227-0928-00L | Distinguished Lecture Series in Control  Findet dieses Semester nicht statt. | 1 KP | 1V | F. Dörfler | ||||||||
| Kurzbeschreibung | This seminar introduces students to advanced scientific methods system theory, automatic control and optimization. The seminar is primarily delivered by an external distinguished speaker and its contents will be tailored towards doctoral and research-interested students. The detailed coverage varies every semester. | |||||||||||
| Lernziel | The intent is to introduce students to advanced scientific methods in the areas of system theory, automatic control, and optimization. The seminar is jointly by Prof. F. Dörfler, it will be primarily delivered by an external distinguished speaker, and its contents will be tailored towards doctoral and research-interested students. The detailed coverage varies from semester to semester. During the Spring Semester 2021 the seminar will concentrate on robust and adaptive output regulation of multivariable and hybrid systems, and it will be delivered by Prof. Alberto Isidori and Prof. Lorenzo Marconi. | |||||||||||
| Inhalt | In spring 2021 the seminar will concentrate on robust and adaptive output regulation of multivariable and hybrid systems. | |||||||||||