Robust Control

Lecturer:

Tutor:

Supervisor:

Department of Control Engineering

Synopsis:

Every mathematical model of a real system is more or less uncertain. If the uncertainty cannot be ignored, classical and modern control techniques may fail. In such a case, we can still use a robust controller that is simple, off-line designed yet able to guarantee the desired behavior on the whole uncertainty range. The course introduces various methods for analysis of uncertain systems and for robust control design. The lectures are supported by on-line simulations using modern software packages for robust control.

Requirements:

Syllabus of lectures:

1. Uncertainty, robustness and fragility. Structured and unstructured uncertainties

2. Single parameter uncertainty

3. Interval polynomials

4. Value set and graphical methods

5. Value set and graphical methods

6. Edge theorem

7. Simultaneous stabilization

8. Unstructured uncertainties

9. Norms for signals and systems

10. Robust design based on H-infinity norm

11. Loop-shaping

12. H-2 and H-infinity design

13. Mu-syntehsis

14. Linear matrix inequalities

Syllabus of tutorials:

1.-2. Matlab and toolboxes for robust control

3.-4. Polynomial toolbox for Matlab

5.-6. Single parameter problems

7.-8. Analysis of interval polynomials

9. 10. Polytopic uncertainties

11.-12. H-infinity design

13.-14. Linear matrix inequalities

Study Objective:

Study materials:

1. Barmish: New Tools for Robustness of Linear Systems. Mcmillan, New York 1994

2. Doyle, Francis, Tannenbaum: Feedback Control of Linear Systems. Mcmillan, New York 1992

3. Boyd, El Ghaoui, Feron, Balakrishnan: Linear Matrix Inequalities in System and Control Theory. SIAM, Philadelphia 1994

Note:

Further information:

No time-table has been prepared for this course

The course is a part of the following study plans:

• Cybernetics and Measurements - Control Engineering- structured studies (compulsory elective course)
• Cybernetics and Measurements - Artificial Intelligence- structured studies (compulsory elective course)
• Cybernetics and Measurements - Measurement and Instrumentation Systems- structured studies (compulsory elective course)
• Cybernetics and Measurements - Aeronautical Engineering and Control Systems- structured studies (compulsory elective course)