Robust Control

8th Semester - Control Engineering

Literature:

Steen Tøffner-Clausen, Palle Andersen og Jakob Stoustrup:
"Robust Procesregulering, danish, pdf" ,
"Robust Control, english, pdf"
Each chapter will also be available in Danish and English versions

Lecture Plan:

Lecture 1:
- Introduction to Robust Control
- Nominal and Robust Stability of SISO systems
- Literature: Danish Kapitel 1 and Kapitel 2 or English Chapter 1 and Chapter 2,
- Exercise: pdf
- Slides from the lecture
Lecture 2:
- Nominal and robust performance in SISO systems
- Introduction of norms for signals and transfer functions
- Literature: Danish Kapitel 3 or English Chapter 3
- Exercise: pdf
- Slides from the lecture
Lecture 3: Analysis of Multivariable Systems
- Poles and zeros in MIMO Systems
- Stability: The Generalized Nyquist Theorem
- Performance: Sensitivity, norms in MIMO systems, the 2x2 problem
- Robust Stability: Small Gain Theorem, Theorem on robust stability, robust stability as a 2x2 problem
- Robust performance: Augmented perturbation structure for robust performance analysis, Potential conservatism
- Literature: Kapitel 4 and Kapitel 5 (in Danish) or Chapter 4 and Chapter 5 (in English). 4.1.1 and 4.3 may be read cursorily
- Exercise: english, pdf,
- Slides from the lecture
Lecture 4:
- Interpretation of weight matrices
- H-infinity control
- Literature: Kapitel 6 (in Danish) or Chapter 6 (in English)
- Exercise: danish pdf, english, pdf
- M-file from the lecture: mixSens_x1.m
- Slides from the lecture
Lecture 5:
- Survey of design methods for robust control
- Application of design methods for unstructured and structured uncertainty on an example plant
- Literature: (optional) Kapitel 7 (in Danish), Chapter 7 (in English)
- Exercise: pdf
- Slides from the lecture
- M-file from the lecture: lmi4.m. You need YALMIP to run this example.

M-filer etc.:

Kind regards

Palle Andersen
Jakob Stoustrup