| Overview | MSc info | MSc program | MSc topics | ET | TN | WBMT |
| ME1200: | Robust and Multivariable Control Design |
| ECTS: | 6 |
| Responsible Instructor: | prof.ir. O.H. Bosgra |
| Contact Hours / Week x/x/x/x: | 0/2/2/0 |
| Education Period: | 2, 3 |
| Start Education: | 2 |
| Exam Period: | 2, 3, Exam by appointment |
| Course Language: | English |
| Expected prior knowledge: | Requires solid background on state-space descriptions of multivariable linear systems. sc4022/sc4025 |
| Course Contents: | This course replaces the former courses on Multivariable Control Systems (wb2421) and Robust Control (wb2415). 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 · Excursion: The algebraic Riccati equation · The H-infinity control problem and its solution in terms of Riccati equations · The structured singular value: Definition of mu, properties, computation, bounds · 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, properties and computation of the structured singular value 7. master application of structure singular value for robust stability and performance analysis 8. sketch derivation and precisely formulate the solution of the H-infinity control problem 9. specify the role of Riccati equation within H-infinity control 10. design robust controllers on the basis of the H-infinity control algorithm 11. apply controller-scalings iteration for robust controller synthesis |
| Education Method: | Lectures (4 hours per week) |
| 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 oral examination |
