
ECE685 Introduction to Robust ControlFall 2005Course Information
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. Course descriptionOne of the most useful qualities of a properly designed feedback control system is robustness, i.e., the ability of the closedloop system to continue performing satisfactorily despite large variations in the (openloop) 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. Course outlineRobust control  motivation and overviewWhy robust control?Examples of important robust control problems Paradigms for robust controlSources of uncertaintiesParametric families of polynomials or matrices Multimodel and polytopic systems Systems with feedback perturbations: Linear fractional transformations; structured perturbations Measures of robustnessRobust stability; quadratic stability; stability margins; invariant ellipsoids; decay rateReachable sets with input constraints Output energy and peak H_{2} and H_{∞} performance Computation of robustness measuresComplexity issuesExact methods for parametric families: Kharitonov and Edge theorems Polytopic systems: LMI methods Systems with feedback uncertainties: Smallgain and passivity methods Systems with structured uncertainties: μ, Km and LMI analysis Robust synthesisPolytopic systems: LMI methodsSystems with feedback uncertainties Systems with structured uncertainties Gainscheduled control 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. 