UOC6 HPW3
Rationale for the study of linear methods. Continuous and discrete LTI systems (tf,zpk and ss), discrete-time approximations. Controllability, canonical forms, pole placement (state feedback design). Observability. Lyapunov stability applied to linear systems. Basic robustness (SISO), sensitivity and complementary sensitivity, classical loop shaping, SISO dynamic controller design using polynomial methods. Robustness (MIMO), singular value decomposition, loop shaping analysis and loop shaping (state feedback). Basic least squares theory as basis for LQR and LQE. The optimal linear regulator, discrete and continuous. Kalman filter and predictor (discrete, continuous). Advanced loop shaping, LTR (continuous time). Advanced robustness, disturbance rejection, H-infinity. Decoupled MIMO controller design. Recursive least squares identification.