ES4F015 Advanced Control Systems
Introductory description
ES4F015 Advanced Control Systems
Module aims
The module objective is to teach various methods of synthesizing control systems for realworld complex dynamic systems such that the desired end user objectives are met satisfactorily.
 The dynamic systems considered in this course are realworld systems that can be represented through systems of ordinary differential equations.
 The complexities include large system dimensions (leading to computational challenges), nonlinearities, and timedelays.
 Techniques to test whether the end user objectives are feasible will be taught first and then the techniques for synthesizing requisite controllers will be introduced.
 To ensure that the students understand how to apply the concepts and techniques for realworld applications, the module includes a case study project on synthesizing controller for a process control and a detailed case study involving theoretical questions and a programming assignment.
In this context, the module aims to first introduce mathematical paradigms so that the task of meeting the enduser objectives can be posed as a constrained optimization problem.
 Here, the basics of statespace control, linear programming, and LMI programming will be introduced.
The module then aims to cover some landmark results on the infeasibility of design objectives (e.g., the waterbed theory, limitations due to RHP poles, limitations due to time delays). The module then aims to teach algorithms to check the feasibility of the performance objectives.
In the final 5 weeks, the module aims to cover the salient features of different computational methods, along with associated software programming, of synthesizing a controller (PID controller, Hinfinity controller, and L1 adaptive controller) whose robustness properties can be specified a priori by the end user.
Outline syllabus
This is an indicative module outline only to give an indication of the sort of topics that may be covered. Actual sessions held may differ.
Introduction to dynamical systems, review of linear algebra. Least squares optimization for linear systems ODE’s to statespace models, Transient and steadystate response in statespace representations, Controllability and observability, state feedback controllers, Ackerman’s formula, Inputoutput stability, introduction to multiplier theory, Stability analysis: effect of timedelay, nonlinearities, and uncertainties, Techniques to characterize robust performance, Sensitivity, complementary sensitivity, and waterbed effect, Bode sensitivity integral, KYP Lemma, Multiplier theoretic characterization of commonly encountered nonlinearities, Multipliers theoretic characterization of timedelays, PID controllers, Introduction to optimal controllers, Introduction to Hinfinity control, Introduction to L1 adaptive control, Linear programming and Nonlinear programming algorithms for synthesizing controllers introduced.
The lectures will illustrate the concepts and techniques through several examples including a project and a programming assignment so that the students well understand how those are applied in the context of realworld applications; the students will be given the freedom to choose the applications of their own interest.
Learning outcomes
By the end of the module, students should be able to:
 Given a dynamic system expressed using ordinary differential equations, check whether the end user objectives are feasible or not.
 Pose the controller synthesis problem as a constrained optimization problem using state space representation (note: here, the controller can be PID or optimal or Hinfinity or L1 adaptive).
 Use linear and nonlinear programming to solve this problem, and write the associated software code.
Indicative reading list
 Skogestad and I. Postlethwaite. Multivariable Feedback Control: Analysis and Design (2nd Edition), Wiley Interscience, 2005. ISBN: 9780470011683.
 G. Franklin, J. Powell, and A. EmamiNaeini. Feedback Control of Dynamic Systems (7th Edition), Pearson, 2014. ISBN: 9781292068909.
 Stormy Attaway. MATLAB (3rd Edition), ButterworthHeinemann, 2013. ISBN: 9780124058767.
 D. Seborg, T. Edgar, D. Mellichamp, and F. Doyle. Process Dynamics and Control (3rd Edition), Wiley, 2011. ISBN: 9780470646106.
 D. Luenberger and Y. Ye. Linear and Nonlinear Programming (4th Edition). SpringerVerlag, 2016. ISBN: 9783319188416e.
View reading list on Talis Aspire
Interdisciplinary
The module is suitable for MSc/MEng students from several disciplines: Systems Engineering, Biomedical Engineering, Mechanical Engineering, Automotive Engineering, Computer Systems Engineering, Power Systems, Renewable Energy.
Subject specific skills
MATLAB programming, linear/nonlinear optimization, stability analysis, robustness analysis, controller design
Transferable skills
MATLAB programming, technical report preparation, PPT preparation, inclass presentation to peers
Study time
Type  Required 

Lectures  28 sessions of 1 hour (19%) 
Seminars  2 sessions of 1 hour (1%) 
Project supervision  14 sessions of 1 hour (9%) 
Online learning (independent)  10 sessions of 1 hour 30 minutes (10%) 
Private study  30 hours (20%) 
Assessment  61 hours (41%) 
Total  150 hours 
Private study description
30 hours of lecturerelated independent learning  it is recommended that the student spend 1 hour in private study per 1 hour of lecture. Guidelines for this private/independent study will be provided through the LearnReflectApply activities on the Moodle page.
Costs
No further costs have been identified for this module.
You do not need to pass all assessment components to pass the module.
Students can register for this module without taking any assessment.
Assessment group D2
Weighting  Study time  

Student Initiated Group Project  30%  30 hours 
The group project concerns a student initiated engineering case study. The module instructor will set questions testing the student understanding of the breakthrough concepts and techniques in the context of the case study: e.g., compute the poles and zeros of a given system and analyse their impact on the fundamental properties of the given system; conduct a phaseplane analysis of the given system; design a model predictive controller, etc. Nearly 50% of the project work will require the students to write software programmes in MATLAB/SIMULINK/Python. This assignment can be done individually or in a group of 2 or 3 students. The students will present their results in a written format through a report and a ZIP file of welldocumented software codes. 

Student Initiated Individual Project  30%  30 hours 
The individual project concerns a student initiated engineering case study. Compared to the Group Project, the student will have more freedom in setting the scope as well as specific tasks for this Project. All the same, as was the case with the Group Project, the module instructor will try to set questions testing the student understanding of the breakthrough concepts and techniques in the context of the case study: e.g., check whether a set of performance objectives is feasible for the given system; conduct stability/robustness analysis for the given system; design a predictor/controller, etc. The students will present their results in a written format through a report and through a 10minute presentation followed by 10minute Q&A. 

Online Examination  40%  1 hour 
QMP ~Platforms  QMP

Feedback on assessment
 Model solutions to past papers.
 Support through advice and feedback hours.
 Summative mark and written feedback on coursework elements (two case studies).
 Cohortlevel feedback on final exam.
 Summative mark and written comments on group presentation.
Prerequisites
To take this module, you must have passed:
Courses
This module is Optional for:

RESAH6P9 Postgraduate Research Wide Bandgap Power Electronics
 Year 1 of H6P9 Wide Bandgap Power Electronics (EngD)
 Year 2 of H6P9 Wide Bandgap Power Electronics (EngD)
 Year 1 of TESAH642 Postgraduate Taught Energy and Power Engineering
This module is Option list A for:
 Year 4 of UESAH163 MEng Biomedical Systems Engineering
 Year 4 of UESAH114 MEng Engineering
 Year 4 of UESAHH31 MEng Systems Engineering
 Year 1 of TESAH642 Postgraduate Taught Energy and Power Engineering
This module is Option list B for:
 Year 4 of UCSAG408 Undergraduate Computer Systems Engineering