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

 Textbook and References
 [1] Linear Robust control, Michael Green, David J.N. Limebeer, Pearson
Education
 [2] Nonlinear system: Analysis, Stability, and Control, Sharnkar Sátry,
Springer, 1999.
 [3] D. L. Smith, Introduction to Dynamic Systems Modeling for Design,
Prentice-Hall, 1994.
 [4] L. Ljung, System Identification – Theory for the users, 2 nd Edition,
Prentice-Hall, 1999.
 [5] R. Johansson, System Modeling and Identification, Prentice-Hall, 1993.
 [6] L. Ljung, System Identification Toolbox TM Getting Started Guide in
Matlab, The MathWorks, Inc, 2016
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
 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 1: Introduction

Dr. Van-Phong Vu-Department of Automatic Control

Contents of Chapter 1

 1.1 Purpose of this course

 1.2 Introduction of nonlinear control system
 1.3 Introduction of Optimal Control
 1.4 Introduction of Robust control
 1.5 Introduction of Adaptive control

Dr. Van-Phong Vu-Department of Automatic Control

1.1 Purpose of this course

 Purpose:
 Understand the nonlinear system
 Understand and apply the Lyapunov theory for design both
controller and observer.
 Design the sliding mode controller
 Design the robust controller
 Design the Optimal Controller (LQR, LQG)

Dr. Van-Phong Vu-Department of Automatic Control

1.2 Nonlinear System

 Almost the system in practice is expressed under the nonlinear

form.
 The nonlinear control system was introduced from 19 century.
 After 1960, Nonlinear control system is significantly developed

Dr. Van-Phong Vu-Department of Automatic Control

1.2 Nonlinear System

 Method to analyze the nonlinear systems:

 Phương pháp mặt phẳng pha
 Phương pháp mô tả
 Phương pháp ổn định Lyapunov
 Phương pháp ổn định Popov
 Phương pháp độ lợi bé
 Phương pháp thụ động

Dr. Van-Phong Vu-Department of Automatic Control

1.2 Nonlinear System

 Methods to design controller:

 Sliding mode controller ( điều khiển trượt)
 Backstepping control ( điều khiển cuốn chiếu)

Dr. Van-Phong Vu-Department of Automatic Control

1.3 Optimal control

Dr. Van-Phong Vu-Department of Automatic Control

1.4 Adaptive control

Dr. Van-Phong Vu-Department of Automatic Control

1.4 Adaptive control

Dr. Van-Phong Vu-Department of Automatic Control

1.5 Robust control

Dr. Van-Phong Vu-Department of Automatic Control

1.5 Robust control

Dr. Van-Phong Vu-Department of Automatic Control

Example

Dr. Van-Phong Vu-Department of Automatic Control

Example

Dr. Van-Phong Vu-Department of Automatic Control

Example

Dr. Van-Phong Vu-Department of Automatic Control

Application in practice

Dr. Van-Phong Vu-Department of Automatic Control

Example

Dr. Van-Phong Vu-Department of Automatic Control

Example

Dr. Van-Phong Vu-Department of Automatic Control

Thank You For Your Listening

Dr. Van-Phong Vu-Department of Automatic Control