110 http://isa.epfl.ch/imoniteur_ISAP/ itffichecours.txt?path=EPFL.Etu.FicheCours.HeaderFR itffichecours.txt?path=EPFL.Etu.FicheCours.GlobalNav_js fr 2026 2018328089 2018328089 2840683608 2840683608 1 0 Robotique, controle et systemes intelligents (edoc) EDRS !itffichecours.htm?ww_i_matiere=1511074667&ww_x_anneeAcad=2840683608&ww_i_section=2018328089&ww_i_niveau= 1696552884 1696552963 2025-2026 COURSE BOOKLET ME-524 Advanced control systems Advanced control systems Lecturers Karimi Alireza Language of teaching English Cursus Energy Science and Technology(2025-2026, EL-ENER - Master 2024)
Energy Science and Technology(2025-2026, EL-ENER - Master 2025)
Mechanical Engineering(2025-2026, GM - Master 2024)
Mechanical Engineering(2025-2026, GM - Master 2025)
Mechanical engineering minor(2025-2026, Mineur : Génie mécanique 2025-26)
Microengineering(2025-2026, MT - Master 2024)
Microengineering(2025-2026, MT - Master 2025)
Robotics(2025-2026, MT_RO - Master 2024)
Robotics(2025-2026, MT_RO - Master 2025)
Robotics, Control and Intelligent Systems (edoc)(2025-2026, EDRS 2025-26)
Systems Engineering minor(2025-2026, Mineur : Systems Engineering 2025-26)
SemesterMand.OptionFilières
x
Ex
MA2, MA4x
MA2, MA4xA B C
MA2, MA4xB C D E F
MA2, MA4xB
 Credits 3 Session Summer Workload 90h Exam Written Number of positions Semester Spring Weeks 14 Hours 3 weekly
Courses 2 weekly
TP 1 weekly
Study planSemesterMand.OptionFilières
EDRS - Robotics, Control, and Intelligent Systems 2025-26x
Energy Science and Technology 2025-26MA2xB
Energy Science and Technology 2025-26MA4xB
Génie mécanique 2025-26MA2xB C D E F
Génie mécanique 2025-26MA4xB C D E F
Microtechnique 2025-26MA2x
Microtechnique 2025-26MA4x
Mineur : Génie mécanique 2025-26Ex
Mineur : Systems engineering 2025-26Ex
Robotique 2025-26MA2xA B C
Robotique 2025-26MA4xA B C
Cursus Sem. Type
Energy Science and Technology MA2, MA4 Opt.
Mechanical engineering minor E Opt.
Mechanical engineering MA2, MA4 Opt.
Microtechnics MA2, MA4 Opt.
Robotics, Control and Intelligent Systems Opt.
Robotics MA2, MA4 Opt.
Systems Engineering minor E Opt.
Summary This course covers some theoretical and practical aspects of robust and adaptive control. This includes H-2 and H-infinity control in model-based and data-driven framework by convex optimization, direct, indirect and switching adaptive control. The methods are implemented in a hands-on lab. Content

Stability, performance and robustness of closed-loop control systems. Robust controller design by convex optimization. Model-based H-2 and H-infinity control. Data-driven fixed structure controller design with loopshaping, H2 and H-infinity performance.

Two-degree of freedom RST digital polynomial controller. Robust pole placement with Q parameterization. Parameter adaptation algorithms. Direct and Indirect adaptive control. Switching adaptive control. Gain-scheduled controller design.

 Keywords

Adaptive control, robust control, digital RST controller.

 Learning Prerequisites Required courses

Control systems + Lab

Commande numeriques des systèmes dynamiques

 Recommended courses
  1. System Identification
  2. Multivariable systems
 Important concepts to start the course
  • Analyze a linear dynamical system (both time and frequency responses)
  • Represent a linear system by a transfer function
  • Identify a dynamic system using experimental data
  • Design a PID controller
  • Design a simple controller for a dynamic system
 Learning Outcomes By the end of the course, the student must be able to:
  • Design an advanced controller for a dynamic system, A11
  • Assess / Evaluate the stability, performance and robustness of a closed-loop system, A12
  • Define (specifications) the adequate control performance for dynamic systems, A13
  • Propose several control solutions, formulate the trade-offs, choose the options, A14
  • Justify methodological choices and validate the results with respect to the specifications, A19
 Transversal skills
  • Write a scientific or technical report.
 Teaching methods

Ex cathedra course, integrated demos and case studies, Hands-on laboratory.

 Expected student activities

Hands-on laboratory in groups of two students.

 Assessment methods

Hands-on lab reports (30%) and written test (70%).

 Supervision Office hours Yes Assistants Yes Forum No Resources Bibliography
  1. Feedback Control Theory by Doyle, Francis and Tannenbaum; Maxwell Macmillan, 1992.
  2. Adaptive Control by Landau, Lozano, M'Saad and Karimi, Springer, 2011.
Ressources en bibliothèque
  • Find the references at the Libraryhttps://slsp-epfl.primo.exlibrisgroup.com/discovery/search?query=any,contains,%22ME-524%202025-2026%22&tab=41SLSP_EPF_MyInst_and_CI&search_scope=MyInst_and_CI&vid=41SLSP_EPF:prod&offset=0
 Notes/Handbook

Robust and Adaptive Control, Course-notes by Alireza Karimi

 Moodle Link Génie mécanique, 2025-2026, Master semestre 2 Mechanical Engineering, 2025-2026, Master semester 2 Ecole polytechnique fédérale de Lausanne EPFL Ecole polytechnique fédérale de Lausanne EPFL 2025-2026 Master semestre 2 MA2 ETE Master semester 2 MA2 Génie mécanique GM Mechanical Engineering GM
Génie mécanique GM Mechanical Engineering GM
B C D E F optionnel optional
2 Cours Courses Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Karimi Alireza 139973
Génie mécanique GM Mechanical Engineering GM
1 TP TP Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Karimi Alireza 139973
Génie mécanique GM Mechanical Engineering GM
1511074667 Advanced control systems Advanced control systems 3
Ecrit Written Crédit Credits 3 Session été Session summer ETE ETE
Génie mécanique, 2025-2026, Master semestre 4 Mechanical Engineering, 2025-2026, Master semester 4 Ecole polytechnique fédérale de Lausanne EPFL Ecole polytechnique fédérale de Lausanne EPFL 2025-2026 Master semestre 4 MA4 ETE Master semester 4 MA4 Génie mécanique GM Mechanical Engineering GM
Génie mécanique GM Mechanical Engineering GM
B C D E F optionnel optional
2 Cours Courses Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Karimi Alireza 139973
Génie mécanique GM Mechanical Engineering GM
1 TP TP Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Karimi Alireza 139973
Génie mécanique GM Mechanical Engineering GM
1511074667 Advanced control systems Advanced control systems 3
Ecrit Written Crédit Credits 3 Session été Session summer ETE ETE
Microtechnique, 2025-2026, Master semestre 2 Microengineering, 2025-2026, Master semester 2 Ecole polytechnique fédérale de Lausanne EPFL Ecole polytechnique fédérale de Lausanne EPFL 2025-2026 Master semestre 2 MA2 ETE Master semester 2 MA2 Microtechnique MT Microengineering MT
Microtechnique MT Microengineering MT
optionnel optional
2 Cours Courses Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Karimi Alireza 139973
Génie mécanique GM Mechanical Engineering GM
1 TP TP Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Karimi Alireza 139973
Génie mécanique GM Mechanical Engineering GM
1511074667 Advanced control systems Advanced control systems 3
Ecrit Written Crédit Credits 3 Session été Session summer ETE ETE
Microtechnique, 2025-2026, Master semestre 4 Microengineering, 2025-2026, Master semester 4 Ecole polytechnique fédérale de Lausanne EPFL Ecole polytechnique fédérale de Lausanne EPFL 2025-2026 Master semestre 4 MA4 ETE Master semester 4 MA4 Microtechnique MT Microengineering MT
Microtechnique MT Microengineering MT
optionnel optional
2 Cours Courses Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Karimi Alireza 139973
Génie mécanique GM Mechanical Engineering GM
1 TP TP Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Karimi Alireza 139973
Génie mécanique GM Mechanical Engineering GM
1511074667 Advanced control systems Advanced control systems 3
Ecrit Written Crédit Credits 3 Session été Session summer ETE ETE
Robotique, 2025-2026, Master semestre 2 Robotics, 2025-2026, Master semester 2 Ecole polytechnique fédérale de Lausanne EPFL Ecole polytechnique fédérale de Lausanne EPFL 2025-2026 Master semestre 2 MA2 ETE Master semester 2 MA2 Robotique MT_RO Robotics MT_RO
Microtechnique MT Microengineering MT
A B C optionnel optional
2 Cours Courses Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Karimi Alireza 139973
Génie mécanique GM Mechanical Engineering GM
1 TP TP Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Karimi Alireza 139973
Génie mécanique GM Mechanical Engineering GM
1511074667 Advanced control systems Advanced control systems 3
Ecrit Written Crédit Credits 3 Session été Session summer ETE ETE
Robotique, 2025-2026, Master semestre 4 Robotics, 2025-2026, Master semester 4 Ecole polytechnique fédérale de Lausanne EPFL Ecole polytechnique fédérale de Lausanne EPFL 2025-2026 Master semestre 4 MA4 ETE Master semester 4 MA4 Robotique MT_RO Robotics MT_RO
Microtechnique MT Microengineering MT
A B C optionnel optional
2 Cours Courses Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Karimi Alireza 139973
Génie mécanique GM Mechanical Engineering GM
1 TP TP Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Karimi Alireza 139973
Génie mécanique GM Mechanical Engineering GM
1511074667 Advanced control systems Advanced control systems 3
Ecrit Written Crédit Credits 3 Session été Session summer ETE ETE
Science et technologie de l'énergie, 2025-2026, Master semestre 2 Energy Science and Technology, 2025-2026, Master semester 2 Ecole polytechnique fédérale de Lausanne EPFL Ecole polytechnique fédérale de Lausanne EPFL 2025-2026 Master semestre 2 MA2 ETE Master semester 2 MA2 Science et technologie de l'énergie EL_ENER Energy Science and Technology EL_ENER
Génie électrique et électronique EL Electrical and Electronics Engineering EL
B optionnel optional
2 Cours Courses Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Karimi Alireza 139973
Génie mécanique GM Mechanical Engineering GM
1 TP TP Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Karimi Alireza 139973
Génie mécanique GM Mechanical Engineering GM
1511074667 Advanced control systems Advanced control systems 3
Ecrit Written Crédit Credits 3 Session été Session summer ETE ETE
Science et technologie de l'énergie, 2025-2026, Master semestre 4 Energy Science and Technology, 2025-2026, Master semester 4 Ecole polytechnique fédérale de Lausanne EPFL Ecole polytechnique fédérale de Lausanne EPFL 2025-2026 Master semestre 4 MA4 ETE Master semester 4 MA4 Science et technologie de l'énergie EL_ENER Energy Science and Technology EL_ENER
Génie électrique et électronique EL Electrical and Electronics Engineering EL
B optionnel optional
2 Cours Courses Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Karimi Alireza 139973
Génie mécanique GM Mechanical Engineering GM
1 TP TP Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Karimi Alireza 139973
Génie mécanique GM Mechanical Engineering GM
1511074667 Advanced control systems Advanced control systems 3
Ecrit Written Crédit Credits 3 Session été Session summer ETE ETE
Mineur en Génie mécanique, 2025-2026, Semestre printemps Mechanical engineering minor, 2025-2026, Spring semester Ecole polytechnique fédérale de Lausanne EPFL Ecole polytechnique fédérale de Lausanne EPFL 2025-2026 Semestre printemps E ETE Spring semester E Mineur en Génie mécanique MIN_GM Mechanical engineering minor MIN_GM
optionnel optional
2 Cours Courses Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Karimi Alireza 139973
Génie mécanique GM Mechanical Engineering GM
1 TP TP Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Karimi Alireza 139973
Génie mécanique GM Mechanical Engineering GM
1511074667 Advanced control systems Advanced control systems 3
Ecrit Written Crédit Credits 3 Session été Session summer ETE ETE
Mineur en Systems Engineering, 2025-2026, Semestre printemps Systems Engineering minor, 2025-2026, Spring semester Ecole polytechnique fédérale de Lausanne EPFL Ecole polytechnique fédérale de Lausanne EPFL 2025-2026 Semestre printemps E ETE Spring semester E Mineur en Systems Engineering MIN_SYS_ENG Systems Engineering minor MIN_SYS_ENG
optionnel optional
2 Cours Courses Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Karimi Alireza 139973
Génie mécanique GM Mechanical Engineering GM
1 TP TP Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Karimi Alireza 139973
Génie mécanique GM Mechanical Engineering GM
1511074667 Advanced control systems Advanced control systems 3
Ecrit Written Crédit Credits 3 Session été Session summer ETE ETE
Robotique, contrôle et systèmes intelligents (edoc), 2025-2026 Robotics, Control and Intelligent Systems (edoc), 2025-2026 Ecole polytechnique fédérale de Lausanne EPFL Ecole polytechnique fédérale de Lausanne EPFL 2025-2026 Robotique, contrôle et systèmes intelligents (edoc) EDRS Robotics, Control and Intelligent Systems (edoc) EDRS
optionnel optional
2 Cours Courses Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Karimi Alireza 139973
Génie mécanique GM Mechanical Engineering GM
1 TP TP Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Karimi Alireza 139973
Génie mécanique GM Mechanical Engineering GM
1511074667 Advanced control systems Advanced control systems 3
Ecrit Written Crédit Credits 3 Session été Session summer ETE ETE
18-FEB-26 105 3 9 2 MEB331 ME B3 31 ME B3 31 MED21120 MED 2 1120 MED 2 1120 LIP_COURS 18-FEB-26 45 3 11 1 MEB331 ME B3 31 ME B3 31 MED21120 MED 2 1120 MED 2 1120 LIP_TP BALISES_TEXTES BOOLEAN_Symbol BaliseJS_debut BaliseJS_fin Balise_debut Balise_fin FO_debut FO_fin HTML_debut HTML_fin JS_debut JS_fin BALISE_BOLD BOOLEAN_Symbol BaliseJS_debut \x5bb\x5d BaliseJS_fin \x5b\x2fb\x5d Balise_debut [b] Balise_fin [/b] FO_debut font-weight=bold FO_fin font-weight=normal HTML_debut <b> HTML_fin </b> JS_debut \x3cb\x3e JS_fin \x3c\x2fb\x3e BALISE_ITALIC BOOLEAN_Symbol BaliseJS_debut \x5bi\x5d BaliseJS_fin \x5b\x2fi\x5d Balise_debut [i] Balise_fin [/i] FO_debut font-style=italic FO_fin font-style=normal HTML_debut <i> HTML_fin </i> JS_debut \x3ci\x3e JS_fin \x3c\x2fi\x3e BALISE_RED BOOLEAN_Symbol BaliseJS_debut \x5bred\x5d BaliseJS_fin \x5b\x2fred\x5d Balise_debut [red] Balise_fin [/red] FO_debut color=#990033 FO_fin color=black HTML_debut <span style="color:#990033;"> HTML_fin </span> JS_debut \x3cspan style="color:#990033;"\x3e JS_fin \x3c\x2fspan\x3e BALISE_TAB BOOLEAN_Symbol BaliseJS_debut \x5btab\x5d BaliseJS_fin Balise_debut [tab] Balise_fin FO_debut [inline]=&#160;&#160;&#160;&#160;&#160;&#160;&#160;&#160; 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FO_fin HTML_debut &#966; HTML_fin JS_debut \x26#966; JS_fin CODE68199285 BOOLEAN_Symbol 1 BaliseJS_debut \x5bPHI\x5d BaliseJS_fin Balise_debut [PHI] Balise_fin FO_debut [inline]=&#934; FO_fin HTML_debut &#934; HTML_fin JS_debut \x26#934; JS_fin CODE68199991 BOOLEAN_Symbol 1 BaliseJS_debut \x5bgamma\x5d BaliseJS_fin Balise_debut [gamma] Balise_fin FO_debut [inline]=&#947; FO_fin HTML_debut &#947; HTML_fin JS_debut \x26#947; JS_fin CODE68200031 BOOLEAN_Symbol 1 BaliseJS_debut \x5bGAMMA\x5d BaliseJS_fin Balise_debut [GAMMA] Balise_fin FO_debut [inline]=&#915; FO_fin HTML_debut &#915; HTML_fin JS_debut \x26#915; JS_fin CODE68200077 BOOLEAN_Symbol 1 BaliseJS_debut \x5bomega\x5d BaliseJS_fin Balise_debut [omega] Balise_fin FO_debut [inline]=&#969; FO_fin HTML_debut &#969; HTML_fin JS_debut \x26#969; JS_fin CODE68200150 BOOLEAN_Symbol 1 BaliseJS_debut \x5bOMEGA\x5d BaliseJS_fin Balise_debut [OMEGA] Balise_fin FO_debut [inline]=&#937; FO_fin HTML_debut &#937; HTML_fin JS_debut \x26#937; JS_fin CODE72092691 BOOLEAN_Symbol BaliseJS_debut \x5beta\x5d BaliseJS_fin Balise_debut [eta] Balise_fin FO_debut [inline]=&#951; FO_fin HTML_debut &#951; HTML_fin JS_debut \x26#951; JS_fin CODE72092805 BOOLEAN_Symbol BaliseJS_debut \x5bETA\x5d BaliseJS_fin Balise_debut [ETA] Balise_fin FO_debut [inline]=&#919; FO_fin HTML_debut &#919; HTML_fin JS_debut \x26#919; JS_fin BALISE_SOULIGNER BOOLEAN_Symbol BaliseJS_debut \x5bu\x5d BaliseJS_fin \x5b\x2fu\x5d Balise_debut [u] Balise_fin [/u] FO_debut text-decoration=underline FO_fin text-decoration=none HTML_debut <u> HTML_fin </u> JS_debut \x3cu\x3e JS_fin \x3c\x2fu\x3e CODE72092388 BOOLEAN_Symbol BaliseJS_debut \x5bpsi\x5d BaliseJS_fin Balise_debut [psi] Balise_fin FO_debut [inline]=&#968; FO_fin HTML_debut &#968; HTML_fin JS_debut \x26#968; JS_fin CODE72092541 BOOLEAN_Symbol BaliseJS_debut \x5bPSI\x5d BaliseJS_fin Balise_debut [PSI] Balise_fin FO_debut [inline]=&#936; FO_fin HTML_debut &#936; HTML_fin JS_debut \x26#936; JS_fin CODE140502511 BOOLEAN_Symbol 1 BaliseJS_debut \x5brho\x5d BaliseJS_fin Balise_debut [rho] Balise_fin FO_debut [inline]=&#961; FO_fin HTML_debut &#961; HTML_fin JS_debut \x26#961; JS_fin CODE140504636 BOOLEAN_Symbol 1 BaliseJS_debut \x5bRHO\x5d BaliseJS_fin Balise_debut [RHO] Balise_fin FO_debut [inline]=&#929; FO_fin HTML_debut &#929; HTML_fin JS_debut \x26#929; JS_fin CODE148292791 BOOLEAN_Symbol BaliseJS_debut \x5bepsilon\x5d BaliseJS_fin Balise_debut [epsilon] Balise_fin FO_debut [inline]=&#949; FO_fin HTML_debut &#949; HTML_fin JS_debut \x26#949; JS_fin CODE169976220 BOOLEAN_Symbol BaliseJS_debut \x5blig\x5d BaliseJS_fin Balise_debut [lig] Balise_fin FO_debut [inline]=&#x203A;&#160;&#160; FO_fin HTML_debut &#x203A;&#160;&#160; HTML_fin JS_debut \x26#x203A;\x26#160;\x26#160; JS_fin CODE148292899 BOOLEAN_Symbol BaliseJS_debut \x5bEPSILON\x5d BaliseJS_fin Balise_debut [EPSILON] Balise_fin FO_debut [inline]=&#917; FO_fin HTML_debut &#917; HTML_fin JS_debut \x26#917; JS_fin BALISETXT_SAUT BOOLEAN_Symbol BaliseJS_debut \x5bbr\x2f\x5d BaliseJS_fin Balise_debut [br/] Balise_fin FO_debut FO_fin HTML_debut <br/> HTML_fin JS_debut \x3cbr\x2f\x3e JS_fin 1511074667 Advanced control systems Advanced control systems anglais Karimi Alireza 139973 2018328089