L T P C

15MH330E Advanced Control Systems

3 0 0 3
Co-requisite: Nil
Prerequisite: 15MH302J
Data Book / Codes/Standards Nil
Course Category P Professional Elective Mechatronics Engineering
Course designed by Department of Mechatronics Engineering
Approval 32nd Academic Council Meeting held on 23.07.2016.

Purpose To impart knowledge of design and implementation of advanced control systems.

Instructional Objectives Student Outcomes
At the end of the course, student will be able to
1. Demonstrate an understanding of nonlinear dynamics. a e k
2. Design optimal and robust control systems. a e k
3. Design and implement optimal state estimators. a e k
4. Design and implement adaptive control schemes for systems. a e k
5. Demonstrate an understanding of model based predictive control. a e k

Contact
Session Description of Topics C-D-I-O IOs Reference
hours
Unit I: Non-Linear Systems 8
Introduction to nonlinear dynamics, common physical
1. 1 C 1 2
nonlinearities.
2. Phase plane method, singular points. 1 C 1 2
Stability analysis: Lyapunov’s stability criterion for linear and
3. 2 C 1 2
non-linear systems.
4. Construction of phase plane trajectories. 2 C 1 2
5. Describing function analysis of nonlinear systems. 1 C 1 2
6. Stability analysis by describing function method. 1 C 1 2
Unit II: Robust Control 6
7. Introduction to robustness and sensitivity. 1 C 2 1,2
8. Analysis of robustness, uncertainty in systems parameters. 1 C 2 1,2
9. Design of robust control systems. 1 C,D 2 1,2
10. Design of robust PID controlled systems. 1 C,D 2 1,2
11. The robust internal model control system. 1 C,D 2 1,2
12. Design of Pseudo-quantitative feedback systems. 1 C,D 2 1,2
Unit III: Optimal Control 11
Introduction to optimal control, overview of methods in
13. 1 C 2 C
optimal control.
Principle of optimality, dynamic programming, Hamilton-
14. 2 C 2 3,5
Jacobi-Bellman equation.
Calculus of variations: Pontryagin’s minimum principle,
15. 2 C 2 3,5
Bang-Bang control.
16. Nonlinear programming methods: Direct method. 1 C,D 2 3,5
Linear quadratic regulator design: Continuous and discrete
17. 2 C,D 2 3,5
Riccati equation forms.
18. H2 and H-infinity optimal control. 1 C 5 3,5
19. Overview of model predictive control: Key elements of MPC. 1 C 5 3,5
20. Basics of convex optimization, receding horizon principle. 1 C,D 5 3,5
Unit IV: Optimal State Estimation 7
Overview of stochastic processes, probability and random
21. 1 C 3 3
variables.
Spectral analysis of stochastic process, special cases:
22. 1 C 3 3
Multivariate normal distribution.
23. Kalman Filters: Continuous and discrete time versions. 2 C,D 3 3
Variants of Kalman filter: Extended Kalman filter, unscented
24. 2 C,D 3 3
Kalman filter.
25. LQG controller design and implementation. 1 C,D 3 3
Unit V: Adaptive Control 9
26. Need for adaptive control, adaptive control schemes. 1 C 4 4

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 Contact
Session Description of Topics C-D-I-O IOs Reference
hours
27. Gain Scheduling: Principle and design. 2 C,D 4 4
28. Model reference adaptive systems: Principle and approaches. 1 C,D 4 4
29. The MIT rule, determination of adaptation gain. 1 C,D 4 4
30. Design of MRAS using Lyapunov theory. 1 C,D 4 4
31. Self-tuning regulators: Pole placement design. 1 C,D 4 4
32. Direct and indirect self-tuning regulators. 2 C,D 4 4
Assessment 4
33. Cycle test - I 1
34. Cycle test – II 2
35. Surprise test / Assignment and Quiz 1
Total contact hours 45

Learning Resources
Sl. No. Text Books
1. Richard C Dorf and Robert H Bishop, “Modern Control Systems”, 13th edition, Pearson Education, 2016.
2. I J Nagrath, M Gopal, “Control Systems Engineering”, 5th edition, New Age International, 2007.
3. Desineni Subbaram Naidu, “Optimal Control Systems”, CRC Press, 2003.
4. Karl J Åström, BjörnWittenmark, “Adaptive Control”, 2nd edition, Dover Publication, 2008.
Reference Books/Other Reading Materials
5. Roland S Burns, “Advanced Control Engineering”, Butterworth Heinemann, 2005.
Jean-Jacques E Slotine, Weiping Li, "Applied Nonlinear Control", Prentice Hall of India-New Jersey,
6.
1991.

Course nature Theory

Assessment Method – Theory Component (Weightage 50%)
Assessment tool Cycle test I Cycle test II Cycle Test III Surprise Test Quiz Total
In-semester
Weightage 10% 15% 15% 5% 5% 50%
End semester examination Weightage: 50%

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