Lectures in course ME-422: Multivariable control

Multivariable Control: System Theory and Applications

Covers system theory, classic feedback control, and applications in green building and natural gas refrigeration plants.

Multivariable Control: System Theory and Linear Systems

Introduces the basics of multivariable control, focusing on system theory and linear systems.

Eigenvalue Assignment in Multivariable Control

Explores Ackermann's formula and methods for eigenvalue assignment in multivariable control systems.

Luenberger Observers: Separation Principle

Explores Luenberger observers in multivariable control systems, emphasizing observer stability, separation principle, and filter design.

Multivariable Control: Reduced-Order Observers

Focuses on designing reduced-order observers in multivariable control systems, emphasizing the importance of observers and eigenvalue assignment in controller design.

Offset-free tracking: Necessary conditions and Feedforward compensation

Explores offset-free tracking in multivariable control, covering necessary conditions and feedforward compensation to reject disturbances and achieve constant setpoints.

Multivariable Control: Design and Analysis

Explores integral control, disturbance estimation, controller design, and observer design in multivariable control systems.

Linear Quadratic Optimal Control: Analysis and Solution

Explores Linear Quadratic optimal control, analyzing cost, and presenting the solution to the FH-LQ problem.

Linear Quadratic (LQ) Optimal Control: Proof of Theorem

Covers the proof of the recursive formula for the optimal gains in LQ control over a finite horizon.

Linear Quadratic Optimal Control: Theory and Applications

Explores Linear Quadratic optimal control theory, covering FH-LQ and IH-LQ problems and the importance of observability in control systems.

Multivariable Control: Lyapunov Stability and LQR Theorems

Explores Lyapunov stability, LQR theorems, and discounted LQR in multivariable control.

Multivariable Control: Weighting Matrices and Gaussian Random Vectors

Discusses the design of weighting matrices for LQR and Gaussian random vectors.

Linear Systems: Equilibria and Stability

Explores linear systems' equilibria, stability, and modes, including Lyapunov stability and exponential stability.

Multivariable Control: Gaussian Processes and Linear Systems

Explores Gaussian processes, linear systems, transformations, and noise properties in multivariable control applications.

Time-Varying Kalman Filter: Properties and Applications

Explores the time-varying Kalman filter, state estimation, challenges in conditioning on measured outputs, and the importance of affine transformations.

Kalman Filter: Minimal Variance Estimator

Explores the Kalman filter as a minimal variance estimator and its application in estimating position and velocity.

Kalman Filtering: Applications in Control and Communication Systems

Explores the applications of Kalman Filtering in control and communication systems, focusing on state estimation and channel estimation.

Steady-state Kalman Predictor: Examples and Comparison

Discusses the steady-state Kalman predictor, provides examples, and compares Luenberger and Kalman filtering.

Multivariable Control: Correlated Noise

Explores the handling of correlated noise in multivariable control systems, emphasizing the Kalman Filter's adaptation and performance evaluation.

Linear Quadratic Gaussian Control: Kalman Filtering and LQG Control

Covers innovation-based tests for Kalman filtering, LQG control, and the linearized Kalman filter.