Outline

Overview

This unit introduces engineering design via optimisation, i. e. finding the "best possible" solution to a particular problem. For example, an autonomous vehicle must find the fastest route between two locations over a road network; a biomedical sensing device must compute the most accurate estimate of important physiological parameters from noise-corrupted measurements; a feedback control system must stabilise and control a multivariable dynamical system (such as an aircraft) in an optimal fashion. The student will learn how to formulate a design in terms of a "cost function", when it is possible to find the "best" design via minimization of this "cost", and how to do so. The course will introduce widely-used optimisation frameworks including linear and quadratic programming (LP and QP), dynamic programming (DP), path planning with Dijkstra's algorithm, A*, and probabilistic roadmaps (PRMs), state estimation via Kalman filters, and control via the linear quadratic regulator (LQR) and Model Predictive Control (MPC). There will be constant emphasis on connections to real-world engineering problems in control, robotics, aerospace, biomedical engineering, and manufacturing.

Unit details and rules

Academic unit	Aerospace, Mechanical and Mechatronic
Credit points	6
Prerequisites ?	AMME3500 or AMME9501 or AMME8501
Corequisites ?	None
Prohibitions ?	AMME8520
Assumed knowledge ?	Strong understanding of feedback control systems, specifically in the area of system modelling and control design in the frequency domain
Available to study abroad and exchange students	Yes

Teaching staff

Coordinator	Ian Manchester, ian.manchester@sydney.edu.au
Lecturer(s)	Ian Manchester, ian.manchester@sydney.edu.au
Tutor(s)	Nicholas Barbara, nicholas.barbara@sydney.edu.au
Tutor(s)	Raghav Mishra, raghav.mishra@sydney.edu.au

Assessment

The census date for this unit availability is 2 April 2024

Details
Criteria

Type	Description	Weight	Due	Length
Supervised exam ?	Final Exam Final exam, written in-person	40%	Formal exam period	2 hours
Outcomes assessed:
Skills-based evaluation	Laboratory Experiments In-class lab experiments over multiple weeks and a short written report	10%	Multiple weeks	In-class over multiple weeks
Outcomes assessed:
Online task	Online computer exercises Weekly Matlab exercises	5%	Ongoing	Up to 1hr each.
Outcomes assessed:
Assignment	Project: Part 1 Written report submission based on algorithm coding and analysis	15%	Week 07 Due date: 14 Apr 2024 at 23:59	5-10 pages
Outcomes assessed:
Assignment	Project: Part 2 Written report submission based on algorithm coding and analysis	20%	Week 12 Due date: 19 May 2024 at 23:59	10-15 pages
Outcomes assessed:
Presentation	Lightning talk Short presentation during tutorial session	10%	Week 13	5 min
Outcomes assessed:
= hurdle task ? = group assignment ?

Assessment summary

Project Parts 1 & 2: The major project is split into two parts and builds towards the design of a complete autonomous vehicle planning, localisation, and control system.
Online quizzes: Regular online quizzes test concepts and calculations, and ensure students are up to date with material.
Lightning talk: The lightning talk is a short presentation based on research of advanced methods related to this subject.

Detailed information for each assessment can be found on Canvas.

Assessment criteria

The University awards common result grades, set out in the Coursework Policy 2014 (Schedule 1).

As a general guide, a high distinction indicates work of an exceptional standard, a distinction a very high standard, a credit a good standard, and a pass an acceptable standard.

Result name	Mark range	Description
High distinction	85 - 100	Deep understanding of modern control theory and applications. Demonstrated capacity to select and apply state-of-the-art techniques to solve difficult control problems, to rigorously evaluate their performance, and to clearly communicate the design and results to an educated audience. Demonstrated capacity to work directly from recent research publications and understand potential novel applications.
Distinction	75 - 84	Comprehensive understanding of modern control theory and applications. Demonstrated capacity to solve difficult control problems using state of the art techniques, evaluate their performance, and clearly communicate the design and results to an educated audience.
Credit	65 - 74	Good understanding of modern control theory and applications. Demonstrated capacity to solve control problems using modern techniques, evaluate their performance, and communicate the design and results to an educated audience.
Pass	50 - 64	Acceptable understanding of modern control theory and applications. Demonstrated capacity to solve control problems using modern techniques (possibly with some assistance), evaluate their performance, and communicate the results to an educated audience.
Fail	0 - 49	When you don’t meet the learning outcomes of the unit to a satisfactory standard.

For more information see guide to grades.

Late submission

In accordance with University policy, these penalties apply when written work is submitted after 11:59pm on the due date:

Deduction of 5% of the maximum mark for each calendar day after the due date.
After ten calendar days late, a mark of zero will be awarded.

This unit has an exception to the standard University policy or supplementary information has been provided by the unit coordinator. This information is displayed below:

5% per day for submitted assignments. The lightning talk is a presentation to the class and must be given on the day.

Academic integrity

The Current Student website provides information on academic integrity and the resources available to all students. The University expects students and staff to act ethically and honestly and will treat all allegations of academic integrity breaches seriously.

We use similarity detection software to detect potential instances of plagiarism or other forms of academic integrity breach. If such matches indicate evidence of plagiarism or other forms of academic integrity breaches, your teacher is required to report your work for further investigation.

Use of generative artificial intelligence (AI) and automated writing tools

You may only use generative AI and automated writing tools in assessment tasks if you are permitted to by your unit coordinator. If you do use these tools, you must acknowledge this in your work, either in a footnote or an acknowledgement section. The assessment instructions or unit outline will give guidance of the types of tools that are permitted and how the tools should be used.

Your final submitted work must be your own, original work. You must acknowledge any use of generative AI tools that have been used in the assessment, and any material that forms part of your submission must be appropriately referenced. For guidance on how to acknowledge the use of AI, please refer to the AI in Education Canvas site.

The unapproved use of these tools or unacknowledged use will be considered a breach of the Academic Integrity Policy and penalties may apply.

Studiosity is permitted unless otherwise indicated by the unit coordinator. The use of this service must be acknowledged in your submission as detailed on the Learning Hub’s Canvas page.

Outside assessment tasks, generative AI tools may be used to support your learning. The AI in Education Canvas site contains a number of productive ways that students are using AI to improve their learning.

Learning support

Simple extensions

If you encounter a problem submitting your work on time, you may be able to apply for an extension of five calendar days through a simple extension.  The application process will be different depending on the type of assessment and extensions cannot be granted for some assessment types like exams.

Special consideration

If exceptional circumstances mean you can’t complete an assessment, you need consideration for a longer period of time, or if you have essential commitments which impact your performance in an assessment, you may be eligible for special consideration or special arrangements.

Special consideration applications will not be affected by a simple extension application.

Using AI responsibly

Co-created with students, AI in Education includes lots of helpful examples of how students use generative AI tools to support their learning. It explains how generative AI works, the different tools available and how to use them responsibly and productively.

Support for students

The Support for Students Policy 2023 reflects the University’s commitment to supporting students in their academic journey and making the University safe for students. It is important that you read and understand this policy so that you are familiar with the range of support services available to you and understand how to engage with them.

The University uses email as its primary source of communication with students who need support under the Support for Students Policy 2023. Make sure you check your University email regularly and respond to any communications received from the University.

Learning resources and detailed information about weekly assessment and learning activities can be accessed via Canvas. It is essential that you visit your unit of study Canvas site to ensure you are up to date with all of your tasks.

If you are having difficulties completing your studies, or are feeling unsure about your progress, we are here to help. You can access the support services offered by the University at any time:

Support and Services (including health and wellbeing services, financial support and learning support)
Course planning and administration
Meet with an Academic Adviser

Weekly schedule

WK	Topic	Learning activity
Multiple weeks	Working on assessments, solving tutorial and practice problems, reading of lecture notes, study for exam	Independent study (80 hr)
Week 01	Introduction to the concept of optimal control, outline of the subject	Lecture and tutorial (4 hr)
Week 02	Dynamic Programming	Lecture and tutorial (4 hr)
Week 03	Shortest-Path Problems	Lecture and tutorial (4 hr)
Week 04	Continuous state/time optimal control	Lecture (2 hr)
Week 04	Modelling and control of nonlinear systems	Computer laboratory (2 hr)
Week 05	The linear quadratic regulator (LQR)	Lecture and tutorial (4 hr)
Week 06	Design via the LQR	Lecture (2 hr)
Week 06	LQR control of hardware	Computer laboratory (2 hr)
Week 07	State estimation and the Kalman filter	Lecture and tutorial (4 hr)
Week 08	Kalman filtering: properties and extensions	Lecture (2 hr)
Week 08	LQG control of hardware	Computer laboratory (2 hr)
Week 09	System uncertainty and robust control	Lecture and tutorial (4 hr)
Week 10	Numerical optimisation and convexity	Lecture (2 hr)
Week 10	LTR control of hardware	Computer laboratory (2 hr)
Week 11	Model predictive control	Lecture and tutorial (4 hr)
Week 12	Reinforcement learning	Lecture and tutorial (4 hr)
Week 13	Lightning talks	Lecture and tutorial (4 hr)

Study commitment

Typically, there is a minimum expectation of 1.5-2 hours of student effort per week per credit point for units of study offered over a full semester. For a 6 credit point unit, this equates to roughly 120-150 hours of student effort in total.

Required readings

Lecture notes and slides provided

Learning outcomes

Learning outcomes are what students know, understand and are able to do on completion of a unit of study. They are aligned with the University's graduate qualities and are assessed as part of the curriculum.

At the completion of this unit, you should be able to:

LO1. Approach research papers in a professional and research-orientated manner, and conduct critical reviews of these papers
LO2. Implement simple path generation algorithms, controllers and decision metrics for an autonomous system in order to meet specific mission objectives
LO3. Understand a number of different path generation and control algorithms implemented in autonomous systems and how they are linked to optimality criteria, platform stability and vehicle constraints.
LO4. Understand how "cost functions" are used to define mission objectives in a mathematical form, so that autonomous systems can make decisions about their next action.

Graduate qualities

The graduate qualities are the qualities and skills that all University of Sydney graduates must demonstrate on successful completion of an award course. As a future Sydney graduate, the set of qualities have been designed to equip you for the contemporary world.

GQ1	Depth of disciplinary expertise Deep disciplinary expertise is the ability to integrate and rigorously apply knowledge, understanding and skills of a recognised discipline defined by scholarly activity, as well as familiarity with evolving practice of the discipline.
GQ2	Critical thinking and problem solving Critical thinking and problem solving are the questioning of ideas, evidence and assumptions in order to propose and evaluate hypotheses or alternative arguments before formulating a conclusion or a solution to an identified problem.
GQ3	Oral and written communication Effective communication, in both oral and written form, is the clear exchange of meaning in a manner that is appropriate to audience and context.
GQ4	Information and digital literacy Information and digital literacy is the ability to locate, interpret, evaluate, manage, adapt, integrate, create and convey information using appropriate resources, tools and strategies.
GQ5	Inventiveness Generating novel ideas and solutions.
GQ6	Cultural competence Cultural Competence is the ability to actively, ethically, respectfully, and successfully engage across and between cultures. In the Australian context, this includes and celebrates Aboriginal and Torres Strait Islander cultures, knowledge systems, and a mature understanding of contemporary issues.
GQ7	Interdisciplinary effectiveness Interdisciplinary effectiveness is the integration and synthesis of multiple viewpoints and practices, working effectively across disciplinary boundaries.
GQ8	Integrated professional, ethical, and personal identity An integrated professional, ethical and personal identity is understanding the interaction between one’s personal and professional selves in an ethical context.
GQ9	Influence Engaging others in a process, idea or vision.

Outcome map

Learning outcomes	Graduate qualities
Learning outcomes

Alignment with Competency standards

Outcomes	Competency standards
	Engineers Australia Curriculum Performance Indicators - 2.1. Appropriate range and depth of learning in the technical domains comprising the field of practice informed by national and international benchmarks. 2.3. Meaningful engagement with current technical and professional practices and issues in the designated field. 2.4. Advanced knowledge and capability development in one or more specialist areas through engagement with: (a) specific body of knowledge and emerging developments and (b) problems and situations of significant technical complexity. 3.2. Information literacy and the ability to manage information and documentation. 3.7. A capacity for lifelong learning and professional development and appropriate professional attitudes.
	Engineers Australia Curriculum Performance Indicators - 1.2. Tackling technically challenging problems from first principles. 2.2. Application of enabling skills and knowledge to problem solution in these technical domains. 2.4. Advanced knowledge and capability development in one or more specialist areas through engagement with: (a) specific body of knowledge and emerging developments and (b) problems and situations of significant technical complexity. 3.3. Creativity and innovation. 4.1. Advanced level skills in the structured solution of complex and often ill defined problems. 4.2. Ability to use a systems approach to complex problems, and to design and operational performance.
	Engineers Australia Curriculum Performance Indicators - 1.2. Tackling technically challenging problems from first principles. 2.1. Appropriate range and depth of learning in the technical domains comprising the field of practice informed by national and international benchmarks. 2.2. Application of enabling skills and knowledge to problem solution in these technical domains. 4.1. Advanced level skills in the structured solution of complex and often ill defined problems. 4.2. Ability to use a systems approach to complex problems, and to design and operational performance. 4.3. Proficiency in the engineering design of components, systems and/or processes in accordance with specified and agreed performance criteria. 5.3. Skills in the selection and characterisation of engineering systems, devices, components and materials. 5.4. Skills in the selection and application of appropriate engineering resources tools and techniques, appreciation of accuracy and limitations;.
	Engineers Australia Curriculum Performance Indicators - 4.1. Advanced level skills in the structured solution of complex and often ill defined problems. 4.2. Ability to use a systems approach to complex problems, and to design and operational performance. 4.3. Proficiency in the engineering design of components, systems and/or processes in accordance with specified and agreed performance criteria. 5.4. Skills in the selection and application of appropriate engineering resources tools and techniques, appreciation of accuracy and limitations;. 5.5. Skills in the development and application of mathematical, physical and conceptual models, understanding of applicability and shortcomings.

Responding to student feedback

This section outlines changes made to this unit following staff and student reviews.

The subject has been reweighted to spread assessments throughout the semester, and add more practice material and solutions.

Disclaimer

The University reserves the right to amend units of study or no longer offer certain units, including where there are low enrolment numbers.

To help you understand common terms that we use at the University, we offer an online glossary.

Current students

Overview

Overview

Unit details and rules

Teaching staff

Assessment

Assessment

Assessment summary

Assessment criteria

Late submission

Academic integrity

Learning support

Learning support

Simple extensions

Special consideration

Using AI responsibly

Support for students

Weekly schedule

Weekly schedule

Study commitment

Required readings

Learning outcomes

Learning outcomes

Graduate qualities

Outcome map

Alignment with Competency standards

Responding to student feedback

Responding to student feedback

Disclaimer

On this page

Useful links

Media

Student links

About us

Connect

Current students

AMME5520: Advanced Control and Optimisation

Semester 1, 2024 [Normal day] - Camperdown/Darlington, Sydney

Overview

Overview

Unit details and rules

Teaching staff

Assessment

Assessment

Assessment summary

Assessment criteria

Late submission

Academic integrity

Learning support

Learning support

Simple extensions

Special consideration

Using AI responsibly

Support for students

Weekly schedule

Weekly schedule

Study commitment

Required readings

Learning outcomes

Learning outcomes

Graduate qualities

Outcome map

Alignment with Competency standards

Responding to student feedback

Responding to student feedback

Disclaimer

On this page

Useful links

Media

Student links

About us

Connect