4 ECTS credits
110 h study time

Offer 1 with catalog number 4011255ENR for all students in the 1st and 2nd semester at a (E) Master - advanced level.

1st and 2nd semester
Enrollment based on exam contract
Grading method
Grading (scale from 0 to 20)
Can retake in second session
Taught in
Faculty of Engineering
Educational team
Rik PINTELON (course titular)
Activities and contact hours
24 contact hours Lecture
24 contact hours Seminar, Exercises or Practicals
Course Content
This course describes basic concepts and techniques for the analysis and design of a number of advanced model based controllers: amongst others robust controllers (H-infinity), internal model controllers, and feedforward controllers. To limit the complexity of the maths, the course is limited to the simplest class of systems: linear single input single output systems. Moreover, the course does not put the emphasis on maths but on the hands on experience: design, implementation, and critical evaluation of the advanced controllers. Therefore the course also provides practical insight that is very useful to design and implement the controllers.

Collocated versus non-collocated control
- basics concepts of structure dynamics
- pros and cons of collocated control
- alternating poles and zeros close to the imaginary axis
- robust SISO control via root locus
- non-collocated control

Feedback control theory: stability, robustness, design goals
- 1-degree of freedom (DOF) and 2-DOF controllers
- closed loop stability
- robustness
- design using frequency response functions: sensitivity and complementary sensitivity functions
- loop shaping
- performance limits

Internal modal control
- basics and structure of internal model based controllers
- 1-DOF internal model controllers (IMC)
- application of IMC design and link with the design of PID controllers
- application of IMC: Smith predictor for systems with a significant delay

Tracking control
- adding a reference input to the control scheme
- influence of this reference input on the design of the state variable estimator
- basics of tracking control
- design of a feedforward loop for non-minimum phase systems: zero phase error tracking control

Uncertainty models and robustness
- parametric robustness analysis
- basic perturbation model
- "small gain" theorem
- robustness of the stability of feedback systems
- robustness analysis via structured singular values
- combination of robustness of stability and performance
- design of H-infinity controllers: mixed sensitivity, choice weighting functions, use of Matlab
Course material
Digital course material (Required) : Transparanten die bij de hoorcolleges gebruikt worden. Bevatten voldoende details om als studiemateriaal gebruikt te worden
Additional info
-Transparencies used during the course. They contain enough details to be used as study material.

Complementary study material:
- references mentioned in the transparencies (papers, books, ...)
- G.F. Franklin, J.D. Powell, and A. Emami-Naeini (2002). Feedback control of dynamic systems, Fourth Edition, Upper Saddle river: Addison-Wesley.
- S. Skogestad, and I. Postlethwaite (2003). Multi-variable feedback control : analysis and design: Chichester: John Wiley and Sons.
Learning Outcomes

General competencies

Acquiring practical knowledge about advanced control of dynamic systems

- design of (robust) model based controllers with accurate tracking properties
- computer aided identification and design of controllers, simulation of systems and controllers (Matlab Simulink)

- keep the importance of the control objective in mind in each step of the design
- critical interpretation of the experimental and simulation results


The final grade is composed based on the following categories:
Oral Exam determines 100% of the final mark.

Within the Oral Exam category, the following assignments need to be completed:

  • Oral presentation with a relative weight of 1 which comprises 100% of the final mark.

    Note: Presentatie van resultaat sluit het studiewerk af (transparanten kunnen dienen als verslag). Deze projectwerkjes starten bij het begin van het semester.

Additional info regarding evaluation
Project in groups of 2 or 3 students covering the whole design cycle of a controller: design and elaboration of identification experiments; and choice, design, implementation, and validation of a controller.
Written and oral presentation of the project (transparencies may serve as written report).
The projects start at the beginning of the semester.
Presentation of the project at the end of the semester or during the examination period.

Academic context

This offer is part of the following study plans:
Master of Electronics and Information Technology Engineering: Standaard traject (only offered in Dutch)