## Florian Dörfler: Catalogue data in Spring Semester 2018 |

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 | 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. | ||||

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 | 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 | ||||

227-0690-09L | Advanced Topics in Control (Spring 2018) New topics are introduced every year. | 4 credits | 2V + 2U | F. Dörfler | |

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 2018 the class will concentrate on distributed systems and control. | ||||

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 2018 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. | ||||

Objective | see above | ||||

227-0928-00L | Distinguished Lecture Series in Control | 1 credit | 1V | F. Dörfler | |

Abstract | 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. In spring 2018 the seminar will concentrate on distributed computation and control. | ||||

Objective | 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 2018 the seminar will concentrate on distributed computation and control. | ||||

Content | Over the past decade there has been growing in interest in distributed control problems of all types. Among these are consensus problems including flocking and distributed averaging, the multiagent rendezvous problem, and the distributed control of multi‐agent formations. The aim of these lectures is to explain what these problems are and to discuss their solutions. Related concepts from spectral graph theory, rigid graph theory, nonhomogeneous Markov chain theory, stability theory, and linear system theory will be covered. |