Melanie Zeilinger: Catalogue data in Spring Semester 2023 |  |
| Name | Prof. Dr. Melanie Zeilinger |
| Field | Intelligent Control Systems |
| Address | Inst. Dynam. Syst. u. Regelungst. ETH Zürich, LEE L 210 Leonhardstrasse 21 8092 Zürich SWITZERLAND |
| Telephone | +41 44 632 53 45 |
| mzeilinger@ethz.ch | |
| Department | Mechanical and Process Engineering |
| Relationship | Associate Professor |
| Number | Title | ECTS | Hours | Lecturers | ||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 151-0660-00L | Model Predictive Control  | 4 credits | 2V + 1U | M. Zeilinger | ||||||||
| Abstract | Model predictive control is a flexible paradigm that defines the control law as an optimization problem, enabling the specification of time-domain objectives, high performance control of complex multivariable systems and the ability to explicitly enforce constraints on system behavior. This course provides an introduction to the theory and practice of MPC and covers advanced topics. | |||||||||||
| Learning objective | Design and implement Model Predictive Controllers (MPC) for various system classes to provide high performance controllers with desired properties (stability, tracking, robustness,..) for constrained systems. | |||||||||||
| Content | - Review of required optimal control theory - Basics on optimization - Receding-horizon control (MPC) for constrained linear systems - Theoretical properties of MPC: Constraint satisfaction and stability - Computation: Explicit and online MPC - Practical issues: Tracking and offset-free control of constrained systems, soft constraints - Robust MPC: Robust constraint satisfaction - Simulation-based project providing practical experience with MPC | |||||||||||
| Lecture notes | Script / lecture notes will be provided. | |||||||||||
| Prerequisites / Notice | One semester course on automatic control, Matlab, linear algebra. Courses on signals and systems and system modeling are recommended. Important concepts to start the course: State-space modeling, basic concepts of stability, linear quadratic regulation / unconstrained optimal control. Expected student activities: Participation in lectures, exercises and course project; homework (~2hrs/week). | |||||||||||
| 173-0003-00L | Signals and Systems  | 6 credits | 13G | M. Zeilinger, A. Carron | ||||||||
| Abstract | Signals arise in most engineering applications. They contain information about the behavior of physical systems. Systems respond to signals and produce other signals. In this course, we explore how signals can be represented and manipulated, and their effects on systems. We further explore how we can discover basic system properties by exciting a system with various types of signals. | |||||||||||
| Learning objective | Master the basics of signals and systems. Apply this knowledge to problems in the homework assignments and programming exercise. | |||||||||||
| Content | Discrete-time signals and systems. Fourier- and z-Transforms. Frequency domain characterization of signals and systems. Time series analysis. Filter design. | |||||||||||
| Lecture notes | Lecture notes available on course website. | |||||||||||
| Competencies |
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| 227-0920-00L | Seminar in Systems and Control Does not take place this semester. | 0 credits | 1S | F. Dörfler, R. D'Andrea, E. Frazzoli, M. H. Khammash, J. Lygeros, R. Smith, M. Zeilinger | ||||||||
| Abstract | Current topics in Systems and Control presented mostly by external speakers from academia and industry. | |||||||||||
| Learning objective | Gain familiarity with the state of the art in control theory and practice. | |||||||||||
| Competencies |
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| 401-5860-00L | Seminar in Robotics for CSE | 4 credits | 2S | M. Hutter, R. Katzschmann, E. Konukoglu, B. Nelson, R. Siegwart, M. Zeilinger | ||||||||
| Abstract | This course provides an opportunity to familiarize yourself with the advanced topics of robotics and mechatronics research. The seminar consists of a literature study, including a report and a presentation. | |||||||||||
| Learning objective | The students are familiar with the challenges of the fascinating and interdisciplinary field of Robotics and Mechatronics. They are introduced in the basics of independent non-experimental scientific research and are able to summarize and to present the results efficiently. | |||||||||||
| Content | This 4 ECTS course requires each student to discuss a study plan with the lecturer and select minimum 10 relevant scientific publications to read through. At the end of semester, the results should be presented in an oral presentation and summarized in a report. | |||||||||||