ECE685 Introduction to Robust Control
Students are allowed, even encouraged, to work on the homework in small groups, but each student must write up his or her own homework to hand in.
One of the most useful qualities of a properly designed feedback control system is robustness, i.e., the ability of the closed-loop system to continue performing satisfactorily despite large variations in the (open-loop) plant dynamics. This course will provide an introduction to the analysis and design of robust feedback control systems. Topics covered: modeling and paradigms for robust control; robust stability and measures of robust performance; analysis of robust stability and performance; design for robust stability and performance.
Robust control -- motivation and overviewWhy robust control?
Examples of important robust control problems
Paradigms for robust controlSources of uncertainties
Parametric families of polynomials or matrices
Multi-model and polytopic systems
Systems with feedback perturbations: Linear fractional transformations; structured perturbations
Measures of robustnessRobust stability; quadratic stability; stability margins; invariant ellipsoids; decay rate
Reachable sets with input constraints
Output energy and peak
H2 and H∞ performance
Computation of robustness measuresComplexity issues
Exact methods for parametric families: Kharitonov and Edge theorems
Polytopic systems: LMI methods
Systems with feedback uncertainties: Small-gain and passivity methods
Systems with structured uncertainties: μ, Km and LMI analysis
Robust synthesisPolytopic systems: LMI methods
Systems with feedback uncertainties
Systems with structured uncertainties
BibliographyWhere appropriate, journal papers may be referenced. In addition to the references listed above, the instructor has consulted the following texts which are out of print.
Last modified May 15,2007.