Estimators 2024

Lecturer: Zsofia Lendek. TA: Mihalis Vicu Maer.

This course concerns state estimation for control. It is part of the Bachelor of Science program of the Automation Department, UTCluj (4th year 2nd semester). As prerequisites, knowledge of linear algebra, system theory, and control design is needed, together with notions of Matlab programming. The responsible lecturer is Zsofia Lendek.

Grading:

• Colloqium
• Extra points

Below the schedule:

Lecture notes

The lecture notes will be made available below.

• Dynamic models.
• State space and transfer functions.
• Stability, controllability, observability.
• Pole placement.
• Luenberger observers.
• Kalman filters.

In the practical classes, a set of assignments must be solved. An exercise is completed when the method is implemented and the corresponding problem is solved. This must be done during class.

The implementation will be done in Matlab and Simulink. For a few basic comments, see this. The requirements for the practical classes are available below:

• Lab 1: Nonlinear models.
• Lab 2: Continuous-time linear models.
• Lab 3: Continuous-time nonlinear models.
• Lab 4: Discrete-time linear models.
• Lab 5: Discrete-time nonlinear models.
• Lab 6: Kalman filter.
• Lab 7: Extended Kalman filter.
• Lab 8: Unknown input observer.
• Lab 9: Unknown input decoupling observer.

An example of a case study is available below: