Computer Aided

Control System Design

Bart De Moor
Koen Eneman
YI Cheng

ESAT–SCD–SISTA, K.U.Leuven
Kasteelpark Arenberg 10, 3001 Leuven, Belgium
Tel: 32-(0)16-32 17 09 Fax: 32-(0)16-32 19 70

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ESAT–SCD–SISTA CACSD pag. 1

What you should be able to do when
you have successfully completed this
course . . .
• Plant modeling in state space.
• Defining control specifications.
• Control system analysis.
– Controllability/observability.
– Stability.
– Performance analysis.
– Elementary sensitivity and robustness analysis.
• Controller design.
– State feedback control design.
Pole-placement, LQR.
– Observer design.
Pole-placement, Kalman filter.
– Compensator design.
Separation principle, LQG.
– Reference introduction and tracking.

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– Basics of MPC. %

ESAT–SCD–SISTA CACSD pag. 5

 List of book-references
• Gene F. Franklin, J. David Powell and Abbas Emami-Naeini, Feedback
Control of Dynamic Systems, Third Edition, Addison-Wesley, 1994.

• Gene F. Franklin, J. David Powell and M.L. Workman, Digital Control of

Dynamic Systems, 2nd ed., Addison-Wesley, 1990.

• R. Dorf, Modern Control Systems, 7th ed., Addison-Wesley, 1995.

• M. Green and D.J.N. Limebeer, Linear Robust Control, Prentice Hall, 1995.

• K.J. Åström and B. Wittenmark, Adaptive Control, Second Edition,

Addison-Wesley, 1995

• A. Saberi, B.M. Chen and P. Sannuti, Loop Transfer Recovery: Analysis

and Design, Springer-Verlag, 1993

• T. Chen and B. Francis, Optimal Sampled-Data Control Systems, Springer,

1995

• R.J. Vaccaro, Digital Control, A State Space Approach, McGraw-Hill, 1995

• L. Ljung and T. Glad, Modelling of Dynamic Systems, Prentice-Hall, 1994

• R.N. Bateson, Introduction to Control System Technology, Fourth Edition,

Merril MacMillan, 1993

• N.S. Nise, Control System Engineering, Second Edition, Benjamin-

Cummings, 1995

• K. Zhou, J.C. Doyle and K. Glover, Robust and Optimal Control, Prentice
Hall, 1995

• . . . don’t hesitate to consult the library (LIBIS) . . .

http://www.libis.kuleuven.ac.be/
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 List of journals
• IEEE Transactions on Automatic Control

• International Journal on Control

• SIAM Journal on Control and Optimization

• Automatica

• European Control Journal

• Journal A

• IEEE Transactions on Control Systems Technology

• ...

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 List of Conferences
• Benelux Meeting on Systems and Control

• European Control Conference

• American Control Conference

• MTNS: Mathematical Theory of Networks and Systems

• IFAC: World Congress

• IEEE Conference on Decision and Control

• ...

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 List of organisations
• IEEE (Institute of Electrical and Electronics Engineers), Control
Systems Society

• IFAC (International Federation of Automatic Control)

• BIRA (Belgisch Instituut voor Regeltechniek en Automatisatie)

• Belgian Graduate School on Systems and Control

• ISA (Instrumentation Society of America)

• SIAM (Society for Industrial and Applied Mathematics)

• ...

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 Software references
• Matlab
– Matlab
– Simulink
– Toolboxes :
∗ Control System
∗ System Identification (some of the algorithms
were developed at ESAT, e.g. N4SID)
∗ MMLE3 Identification
∗ Mu-Analysis and Synthesis
∗ Neural Network
∗ Optimization
∗ Robust Control
∗ Signal Processing
∗ Statistics
∗ Symbolic Math
∗ Extended Symbolic Math
• RaPID (developed at ESAT)

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• Xmath
– Control Design Module
– Interactive Control Design Module
– Interactive System Identification Module (developed
at ESAT)
– Optimization Module
– Robust Control Module
– Model Reduction Module
– Signal Analysis Module
– Xµ Module
– GUI Module
– SystemBuild
∗ BlockLibrary
∗ AutoCode (automatic generation of C-code)
∗ DocumentIt (automatic documentation of block
diagrams)

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 Control Companies
• Fisher-Rozemount
• Honeywell
• ABB
• Setpoint-IPCOS
• Eurotherm
• Cambridge-Control
• ISI
• Yokogawa
• Siemens
• ISMC (KUL spin-off)
• . . . and many others . . .

Applications
Literally: everywhere, all sectors, all industries, economy,
process industry, mechatronic design, . . . .
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