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SC4015: Robust and Multivariable Control Design
Responsible Instructor: J.W. van Wingerden
Contact Hours / Week x/x/x/x: 0/0/4/0
Education Period: 3
Start Education: 3
Exam Period: 3, 4
Course Language: English
Expected prior knowledge: Requires solid background on state-space descriptions of multivariable linear systems.
Course Contents: Contents:
Recap on background in linear systems theory and classical feedback control
Multivariable system control: Nyquist, interaction, decoupling
Directionality in multiloop control, gain and interaction measure
Stabilizing controllers and the concept of the generalized plant
Parametric uncertainty descriptions, approximations
The general framework of robust control
Robust stability analysis
Nominal and robust performance analysis
The H-infinity control problem
The structured singular value: Definition of mu
Mu synthesis, DK-iteration, role of uncertainty structure.
Design of robust controllers, choice of performance criterion and weights
Study Goals: The student is able to reproduce theory and apply computational tools for robust controller analysis and synthesis.
More specifically, the student must be able to:
1. substantiate relation between frequency-domain and state-space description of dynamical systems
2. define stability and performance for multivariable linear time-invariant systems
3. construct generalized plant for complex system interconnections
4. describe parametric and dynamic uncertainties
5. translate concrete controller synthesis problem into abstract framework of robust control
6. reproduce definition of the structured singular value
7. master application of structure singular value for robust stability and performance analysis
8. design robust controllers on the basis of the H-infinity control algorithm
9. apply controller-scalings iteration for robust controller synthesis
Education Method: Lectures
Computer Use: Computer exercises with Matlab"s Robust Control Toolbox.
Literature and Study Materials: Course material:
S. Skogestad, I. Postlethwaite, Multivariable Feedback Control, 2nd Edition. John Wiley & Sons, 2005.
References from literature:
K. Zhou, J.C. Doyle, K. Glover, Robust and optimal control, Prentice Hall, 1996
D.-W. Gu, P.Hr. Petkov, M.M. Konstantinov, Robust Control Design with Matlab. Springer Verlag, London, UK, 2005
Assessment: Written exercise and written examination
Last modified: 6 November 2013, 15:24 UTC
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