Course Syllabus for

Multivariable Control
Flervariabel reglering

FRTN10F, 7.5 credits

Valid from: Autumn 2016
Decided by: Professor Thomas Johansson
Date of establishment: 2016-10-27

General Information

Division: Automatic Control
Course type: Course given jointly for second and third cycle
The course is also given at second-cycle level with course code: FRTN10
Teaching language: English


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.


Knowledge and Understanding

For a passing grade the doctoral student must

Competences and Skills

For a passing grade the doctoral student must

Judgement and Approach

For a passing grade the doctoral student must

Course Contents

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).

Course Literature

Glad, T. & Ljung, L.: Reglerteori - Flervariabla och olinjära metoder. Studentlitteratur, 2003.

Instruction Details

Types of instruction: Lectures, laboratory exercises, exercises

Examination Details

Examination format: Written exam
Grading scale: Failed, pass

Admission Details

Assumed prior knowledge: FRT010 Automatic Control, Basic Course or FRTN25 Automatic Process Control

Course Occasion Information

Contact and Other Information

Course coordinator: Anton Cervin <>
Web page:

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