06 6 4 * 04 “ MECHTRON 4AX3, Term 1 2022-2023 Predictive and Intelligent Control Instructor Dr, M.v. Mohrenschilét, TB 164, mohrens Office hours: To be detrmined My main way to communicate is email. Do not sent me messages in other systems, | am not monitoring them. Lectures, Tutorials Lectures are in person Tu,ThFr 11:30AM - 12:20PM, BSB 108 Tutorial + Mo 4:30PM - 5:20PM ETB 119 + Th 1:30PM - 2:20PM JHE 329 Note: + MIDTERM DATE + There will be no ne Tutorials in the first week, Description The course will present key aspects of advanced control and Machine Learning, We will examine the principles common to both and the difference in formulation of the two approaches, Major Topics The following are the major topics: ‘+ Review of mathematical concepts (Control, Linear Algebra, Probability) * State space control + Observers. + Estimation, Bayesian Reasoning, Regression + Kalman Filtering + Markov Chains and Bellman Equation, Dynamic programming (Al and control) + Re-enforcement leaming + Optimal control, LR, Ricatt + Model Predictive Control + Clustering + Neural Networks This course introduces several concepts used in systems engineering, predictive control and artifical inteligence. A variety of techniques including prediction and estimation, linear models, basic optimization techniques, Monte Carlo techniques, neural networks, and clustering are introduced. The techniques are applied to predictive and smart systems by the example of model predictive control and intelligent control, classification and decision-making, The course is intended for engineering students with understanding in signals and systems and control. Prerequisite(s): MECHTRON 3DX4 or SFWRENG 3DX¢ or IBEHS 4A03 Teaching Assistants + H, Daniali, mohamh4é@momaster.ca Course Information on Web ‘+ The study material and the latest information about the course is here: HERE + This document is located at: netp://wnw.cas.nenaster ca/nohrens/4x3 outline hem Grades, Assignments, and Exams ‘+ There wil be a project in form of labs/assignments, a midterm and one final examination. It is possible to replace some labs with a custom project. This will need the writen (email) agreement by the instructor for the particular projec. | will explain the details in the lecture, + The midterm will happen during regular scheduled class time. Make sure you practice the submission of material to avenue to leam Using assignments so you know how to do this during timed midterm test. Instructions will be provided. + The final examination will be scheduled by the Registrars office in the usual way. It will be two hours in duration and cover the ‘material of the course, handouts and lab-assignments. Calculators (the standard McMaster calculator) will be permitted in the thefinal. + The final grade will be based on the project, the midterm and the two-hour final examination, There is one marking scheme. Assignments: 20%, Midterm 20% Final 60%. Note, there will be no makeup midterms , if you do not write a test the weight will be redistributed to futures tests. + "The instructor and university reserve the right to modify elements of the course during the term. The university may change the dates and deadiines for any or all courses in extreme circumstances. If ether type of modification becomes necessary, reasonable ‘notice and communication with the students will be given with explanation and the opportunity to comment on changes. Itis the responsibilty of the student to check their McMaster email and course web sites weekly during the term and to note any changes. Assignments There will be 5 assignments Leart 1g Objectives Learning objectives are measured and reported to the CEAB as part ofthe accreditation process. + Students should know and understand ‘© State Space Representations © Different approaches to linear least square and regression © Observers, estimation ‘© Concept of Kalman fitering © Bellman equation ‘© Optimal Control principles © Reinforcement learning + Students should be able to ‘2 Perform state space control simulations in matlab and C++ © Place poles to shape a system response 2 Apply Kalman fitering to simple problems ‘2 Davelop a finite horizon optimal controller © Implement machine learning principles matlab and C++ Note ACADEMIC INTEGRITY ‘You are expected to exhibit honesty and use ethical behaviour in all aspects ofthe learning process. Academic credentials you eam are rooted in principles of honesty and academic integrity It is your responsibility to understand what constitutes academic dishonesty. ‘Academic dishonesty is to knowingly act or fil to actin a way that results of could result in unearned academic credit or advantage. This behaviour can result in serious consequences, e.g, the grade of zero on an assignment, loss of credit with a notation on the transcript (notation reads: ‘Grade of F assigned for academic dishonesty’), andlor suspension or expulsion from the university. For information on the various types of academic dishonesty please refer to the Academic Integrity Policy, located at hitps://secretarial memaster.ca/university-policies-procedures- guidelines! The following illustrates only three forms of academic dishonesty. + plagiarism, e.g. the submission of work that is not one's own or for which other credit has been obtained. + improper collaboration in group work, * copying or using unauthorized aids in tests and examinations. AUTHENTICITY / PLAGIARISM DETECTION ‘Some courses may use a web-based service (Turitin.com) to reveal authenticity and ownership of student submitted work. For courses Using such software, students will be expected to submit their work electronically either directly to Turitin.com or via an oniine learning platform (e.g. A2L, ete.) using plagiarism detection (a service supported by Tumitin.com) so it can be checked for academic dishonesty. ‘Students who do not wish their work to be submitted through the plagiarism detection software must inform the Instructor before the assignment is due. No penalty will be assigned to a student who does not submit work to the plagiarism detection software, All submitted work is subject to normal verification that standards of academic integrity have been upheld (e.9., on-line search, other software, etc.). For more details about McMaster’s use of Turniti.com please go to www.mcmaster.ca/academicintegrity. COURSES WITH AN ON-LINE ELEMENT ‘Some courses may use on-line elements (2.9. e-mail, Avenue to Lear (A2L), LeamLink, web pages, capa, Moodle, ThinkingCap, etc.) ‘Students should be aware that, when they access the electronic components of a course using these elements, private information such a3 first and last names, user names for the McMaster e-mail accounts, and program affiliation may become apparent to all other students inthe same course, The available information is dependent on the technology used, Continuation in a course that uses on-line elements will be deemed consent to this disclosure. f you have any questions or concerns about such disclosure please discuss this with the course instructor. ONLINE PROCTORING ‘Some courses may use online proctoring software for tests and exams. This software may require students to tum on their video camera, present identification, monitor and record their computer activities, andiorlockirestrict their browser or other applications/software during tests or exams. This software may be required to be installed before the test/exam begins. CONDUCT EXPECTATIONS ‘As a McMaster student, you have the right to experience, and the responsibilty to demonstrate, respectful and dignified interactions within all of our living, learning and working communities. These expectations are described in the Code of Student Rights & Responsibilities (the *Code") ll students share the responsibilty of maintaining a positive environment for the academic and personal growth of all McMaster ‘community members, whether in person or online. It is essential that students be mindful oftheir interactions online, as the Code remains in effect in virtual learning environments. The Code applies to any interactions that adversely affect, disrupt, or interfere with reasonable Participation in University activities. Student disruptions or behaviours that interfere with university functions on online platforms (e.g. use of Avenue 2 Leam, WebEx or Zoom for delivery), wll be taken very seriously and willbe investigated. Outcomes may include restriction of removal of the involved students’ access to these platforms,ACADEMIC ACCOMMODATION OF STUDENTS WITH DISABILITIES ‘Students with disabilities who require academic accommodation must contact Student Accessibilly Services (SAS) at 905-525-9140 ext. 28652 or [email protected] to make arrangements with a Program Coordinator, For further information, consult MeMaster University’s ‘Academic Accommodation of Students with Disabilities policy REQUESTS FOR RELIEF FOR MISSED ACADEMIC TERM WORK McMaster Student Absence Form (MSAF): In the event of an absence for medical or other reasons, students should review and follow the ‘Acadernic Regulation in the Undergraduate Calendar "Requests for Relief for Missed Academic Term Work’. ACADEMIC ACCOMMODATION FOR RELIGIOUS, INDIGENOUS OR SPIRITUAL OBSERVANCES (RISO) ‘Students requiring academic accommodation based on religious, indigenous or spiritual observances should follow the procedures set out inthe RISO policy. Students should submit their request to their Faculty Office normally within 10 working days of the beginning of term in Which they anticipate a need for accommadation or to the Registrar's Office prior to their examinations. Students should also contact their instructors as soon as possible to make alternative arrangements for classes, assignments, and tests. COPYRIGHT AND RECORDING ‘Students are advised that lectures, demonstrations, performances, and any other course material provided by an instructor include ‘copyright protacted works. The Copyright Act and copyright law protect every original literary, dramatic, musical and artistic work, including lectures by University instructors The recording of lectures, tutorials, or other methods of instruction may occur during a course. Recording may be done by either the instructor for the purpose of authorized distribution, or by a student for the purpose of personal study. Students should be aware that their voice andlor image may be recorded by others during the class. Please speak with the instructor if this is a ‘concer for you. EXTREME CIRCUMSTANCES “The University reserves the right to change the dates and deadlines for any or all courses in extreme circumstances (0.g., severe weather, labour disruptions, etc.). Changes will be communicated through regular McMaster communication channels, such as McMaster Daily News, A2L and/or McMaster email