TEK4060 – Robust multivariable control

Schedule, syllabus and examination date

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Course content

Pontryagins maximum principle with different side conditions, linear systems with quadratic criterions, open and closed loop solutions. Optimal disturbance suppression and following. Optimal controller of the proportional and the proportional-integral type. The discrete maximum principle. State space limitations. Two point boundary value problems. The separation principle. Loss and recovery of robustness.

Learning outcome

After completing the course, you will be able to:

  • formulate optimal control problems for typical applications
  • find a solution using Pontryagins maximum principle
  • analyze and secure the robustness of the solutions


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If you are not already enrolled as a student at UiO, please see our information about admission requirements and procedures.


Formal prerequisite knowledge


Recommended previous knowledge

MAT1110-Kalkulus og lineær algebra, MAT1120-Lineær algebra, MAT-INF1310-Ordinary differential equations, MAT2310-Optimal kontrollteori.

Overlapping courses

10 credits overlap with UNIK4570 – Robust multivariable control (continued)


The course will be given as a guided self-tuition course. The students must hand in and pass on mandatory term projects before they are admitted to take the exam.


Oral or written examination. Graded marks.

Explanations and appeals

Resit an examination

Students who can document a valid reason for absence from the regular examination are offered a postponed examination at the beginning of the next semester.

Re-scheduled examinations are not offered to students who withdraw during, or did not pass the original examination.

Withdrawal from an examination

It is possible to take the exam up to 3 times. If you withdraw from the exam after the deadline or during the exam, this will be counted as an examination attempt.

It will also be counted as one of the three attempts to sit the exam for this course, if you sit the exam for UNIK4570.

The course was previously called UNIK4570 – Robust multivariable control (continued).

Facts about this course






Spring and autumn

The course is given as a guided self-tuition course


Spring and autumn

Teaching language