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Lecturer(s)
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Hubka Lukáš, Ing. Ph.D.
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Školník Petr, Ing. Ph.D.
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Course content
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Lectures: 1. Introduction to the state-space description and state-space models. State trajectory. Linearization. Stability. 2. Transformations between inner and outer descriptions. The transformation between state-spaces. Initial condition representation and transformation. 3. Description in normal forms. Controllability. Observability. 4. Minimal realization. System order reduction. 5. State vector, the fundamental matrix. Fundamental matrix computation technics. 6. State controller introduction. State controller tuning by Ackerman method. 7. State controller tuning by the pole-placement method. State controller for reference tracking. 8. Deterministic (Luenberg) observer (estimator) - description and design. 9. Kalman approach to the observer design. 10. LQR state controller design. LQG state controller design. 11. Reduced order observer. 12. State-space description of systems with time delays. 13. State control of systems with time delays (predictor including). 14. A discrete version of state space description and state control. Practices: Students solve selected problems related to the actual chapter from lectures.
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Learning activities and teaching methods
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Monological explanation (lecture, presentation,briefing), Laboratory work
- Class attendance
- 56 hours per semester
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Learning outcomes
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This subject makes an effort at detailed analysis of dynamic features of systems, both continuous and discrete ones. Linear systems are preferred. There are studied the problems of their various state description, their transform and their canonical forms. Relation between inner and external description is shown, as well as the conversion between their continuous and discrete models. The considerable part of subject is given to state estimation problem, both in full and reduce order Luenberger's variants. The very main problem is the practical design of optimal state controller, again in both modification continuous and discrete ones.
Students will acquire more detailed knowledge in control engineering and practical experience with state space controller design.
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Prerequisites
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Condition of registration: none
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Assessment methods and criteria
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Combined examination
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Recommended literature
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Kuo, Benjamin C. Automatic Control Systems. London, Prentince-Hall, Inc. 1991.
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Kwakernaak - Sivan:. Linear Optimal Control Systems. NY, John Wiley & Sons, Inc. 1972.
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Luenberger, D.G. An Introduction to Observers. IEEE Trans. on Automatic Control, Vol. AC-16, pp.596-602.
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Mařík - Zdráhal:. Obecná teorie systémů-řešené příklady. /Skriptum/. Praha, ČVUT FEL 1980.
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Raven, F.H. Automatic Control Engineering. NY, McGraw-Hill, Inc. 1995.
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Štecha J., & Havlena V. Teorie dynamických systémů. Praha, ČVUT FEL, skripta, 1995.
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Štecha, J. Obecná teorie systémů. /Skriptum/. Praha, ČVUT FEL 1979.
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Van de Vegte, J. Feedback Control Systems. NJ, Prentice-Hall, Inc. 1990.
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