Advance Control

Theory
Lecturer: VU VAN PHONG

Dr. Van-Phong Vu-Department of Automatic Control

 Instructor: Dr. Vu Van Phong
 Email: phongvv@hcmute.edu.vn
 Phone: 0981479507
 Websites: https://phongvuac.wixsite.com/vuphong/

Dr. Van-Phong Vu-Department of Automatic Control

Rules in Class

 Attend at least 80% of class hours

 Complete all homeworks and assignments (If any)

Dr. Van-Phong Vu-Department of Automatic Control

Assessment

 Assignment (50%)
 One assignment/homework. (20%)
 One midterm test (20%)
 Attendance (10%)
 Final Project (50%)
 Student have to complete a small project and present in the class.

Dr. Van-Phong Vu-Department of Automatic Control

Contents of This course
 Chapter 1: Introduction
 Chapter 2: Nonlinear control system
 2.1 Nonlinear system
 2.2 Lyapunov Theory
 2.3 Sliding mode control ( Bài giảng thầy Huỳnh Thái Hoàng)
 Chapter 3: Optimal Control
 3.1 LQR Controller
 3.2 Kalman filter
 3.3 LQG controller
 Chapter 4: Robust Control
 4.1 H-infinite controller

Dr. Van-Phong Vu-Department of Automatic Control

 Chapter 3: Optimal Control

Dr. Van-Phong Vu-Department of Automatic Control

3.1 Introduction

Dr. Van-Phong Vu-Department of Automatic Control

3.1 Introduction
 Classification:

Dr. Van-Phong Vu-Department of Automatic Control

3.1 Introduction
 Applications:

Dr. Van-Phong Vu-Department of Automatic Control

3.2 Tối ưu tĩnh
 Tối ưu hóa tĩnh không ràng buộc

Dr. Van-Phong Vu-Department of Automatic Control

3.2 Tối ưu tĩnh
 Applications:

Dr. Van-Phong Vu-Department of Automatic Control

 LQR

Dr. Van-Phong Vu-Department of Automatic Control

3.2 Linear Quadratic Regular
Initial state Desired states
What is optimal trip??

Cost function: J=Q*time+R*fee

Time/minute Fee/USD
Q R

20 1 7 27
1

1 75 1 0 75

1 30 1 2 32

1 400 404
Dr. Van-Phong Vu-Department of Automatic Control 1 4
3.2 Linear Quadratic Regular (LQR)
 Bài toán liên tục

Dr. Van-Phong Vu-Department of Automatic Control

3.2 Linear Quadratic Regular (LQR)

Dr. Van-Phong Vu-Department of Automatic Control

3.2 Linear Quadratic Regular (LQR)
 Applications:

Dr. Van-Phong Vu-Department of Automatic Control

3.2 Linear Quadratic Regular (LQR)
 Applications:

Dr. Van-Phong Vu-Department of Automatic Control

3.2 Linear Quadratic Regular (LQR)
 Bài toán LQR liên tục thời gian vô hạn

Dr. Van-Phong Vu-Department of Automatic Control

3.2 Linear Quadratic Regular (LQR)
 Example 1:

Dr. Van-Phong Vu-Department of Automatic Control

3.2 Linear Quadratic Regular (LQR)
 Example 2:

Dr. Van-Phong Vu-Department of Automatic Control

3.2 Linear Quadratic Regular (LQR)
 Example 2:

Dr. Van-Phong Vu-Department of Automatic Control

3.2 Linear Quadratic Regular (LQR)
 Example 2

Dr. Van-Phong Vu-Department of Automatic Control

3.2 Linear Quadratic Regular (LQR)
 Example 3:

Dr. Van-Phong Vu-Department of Automatic Control

3.2 Linear Quadratic Regular (LQR)
 Example 3:

Dr. Van-Phong Vu-Department of Automatic Control

3.2 Linear Quadratic Regular (LQR)
 Example 3:

Dr. Van-Phong Vu-Department of Automatic Control

3.2 Linear Quadratic Regular (LQR)
 Matlab:

Dr. Van-Phong Vu-Department of Automatic Control

 Kalman Filter

Dr. Van-Phong Vu-Department of Automatic Control

3.3 Kalman Filter

Dr. Van-Phong Vu-Department of Automatic Control

3.3 Kalman Filter

Dr. Van-Phong Vu-Department of Automatic Control

3.3 Kalman Filter

Dr. Van-Phong Vu-Department of Automatic Control

3.3 Kalman Filter

Dr. Van-Phong Vu-Department of Automatic Control

3.3 Kalman Filter

Dr. Van-Phong Vu-Department of Automatic Control

3.3 Kalman Filter

Dr. Van-Phong Vu-Department of Automatic Control

 LQG
Linear Quadratic Gaussian

Dr. Van-Phong Vu-Department of Automatic Control

3.4 LQG

Dr. Van-Phong Vu-Department of Automatic Control

3.4 LQG

Dr. Van-Phong Vu-Department of Automatic Control

3.4 LQG

Dr. Van-Phong Vu-Department of Automatic Control

3.4 LQG

Dr. Van-Phong Vu-Department of Automatic Control

3.3 Kalman Filter

Dr. Van-Phong Vu-Department of Automatic Control

3.3 Kalman Filter

Dr. Van-Phong Vu-Department of Automatic Control

Thank You For Your Listening

Dr. Van-Phong Vu-Department of Automatic Control