Cybernetics and Robot Control

The course contains a selection of the following topics, in the context of cybernetics and robot control:

• Closed-loop control systems
• Optimal control methods, e.g., linear quadratic regulators and estimators, MPC
• Discrete Kalman filter
• Analysis and control of digital dynamical systems
• Parameter estimation and system identification
• Nonlinearity and linearization
• Application of cybernetics for control of robotic systems
• Possibly other relevant topics

More details about the curriculum will provided during the start of semester.

Knowledge and skills

The candidate can

• Explain and apply fundamental theory and methods within cybernetics and robot control.
• Explain and apply closed loop control methods.
• Explain and apply methods for state- and parameter estimation.
• Assess and compare the theoretical background, principles, strengths and weaknesses of the introduced methods.
• Identify problems, challenges, and systems which can be solved, estimated, or controlled using cybernetics and the introduced theory.
• Use theory and methods from the course for control of robotic systems.

Competence

The candidate can

• Use digital tools for modelling, analysis, control, simulation, and visualization of dynamical systems.
• Use digital tools, simulations and physical lab equipment to demonstrate the introduced theory.
• Present problems, solutions and results both orally and written in a professional and scientific manner.

Learning activities generally include a mix of lectures, tutorials and practical lab/project work. There will be mandatory works, e.g. assignments and quizzes. A constructivist approach for learning is endorsed, with focus on problem solving and practical application of theory.