Course syllabus

Flervariabel reglering
Multivariable Control

FRTN10, 7,5 credits, A (Second Cycle)

Valid for: 2013/14
Decided by: Education Board B
Date of Decision: 2013-04-10

General Information

Elective for: C4, C4-ssr, D4, D4-ssr, E4, E4-ra, E4-ssr, F4, F4-ssr, I4, I4-pvs, Pi4, Pi4-ssr
Language of instruction: The course will be given in English on demand


To teach the basic principles for control of systems with multiple inputs and outputs. The course will provide insight on fundamental limitation and on the use of mathematical optimization as a design tool. The course covers linear continuous-time systems.

Learning outcomes

Knowledge and understanding
For a passing grade the student must

Competences and skills
For a passing grade the student must

Judgement and approach
For a passing grade the student must


The control design process, signal size, gain, stability, sensitivity, robustness, small-gain theorem, transfer function matrix, operators, multivariable zeros, non-minimum phase systems, disturbance models in the time domain and frequency domain, frequency-domain specifications, controller structures, Youla parameterization, convex specifications, linear-quadratic optimization of state feedbacks and Kalman filters, synthesis using Linear Matrix Inequalities (LMI).

Examination details

Grading scale: TH
Assessment: Written exam (5 hours), three laboratory exercises. In case of less than 5 registered students the second and third exam may be given in oral form.

Code: 0108. Name: Examination.
Credits: 7,5. Grading scale: TH.
Code: 0208. Name: Laboratory Work 1.
Credits: 0. Grading scale: UG.
Code: 0308. Name: Laboratory Work 2.
Credits: 0. Grading scale: UG.
Code: 0408. Name: Laboratory Work 3.
Credits: 0. Grading scale: UG.


Required prior knowledge: FRT010 Automatic Control, Basic Course.
The number of participants is limited to: No
The course overlaps following course/s: FRT020

Reading list

Contact and other information

Course coordinator: Docent Anders Robertsson,
Course coordinator: Professor Anders Rantzer,
Course homepage:
Further information: The course may not be part of an exam together with the course FRT020.