Plan

Date

Subjects

Week 1:

9 February 2016

INTRUDUCTION

	Motivation
	Definition of robustness and fragility
	Classification of Robust Control Systems
	Measuring Robustness

THE CONCEPT OF NORMS

	Vector norms
	Matrix norms

Week 2:

16 February 2016

THE CONCEPT OF NORMS

Norms of signals and systems

L₂ norm

L_inf norm

H₂ norm

H_inf norm

Week 3:

23 February 2016

PRELIMINARIES ON MIMO SYSTEMS

	Frequency response
	Singular Value Decomposition

CLASSICAL ROBUST CONTROL TECHNICS

Gain and phase margin

Week 4:

1 March 2016

POLE PLACEMENT and POLE COLOURING

	Pole assignment for single input systems
	Pole assignment for multi-input systems (dyadic and full-rank state-feedback methods)
	Pole Colouring

Week 5:

8 March 2016

MATHEMATICA TUTORIAL

Pole Coloring and Robust Pole Assignment Using Mathematica

Week 6:

15 March 2016

ROBUST EIGENSTRUCTURE ASSIGNMENT

	Low sensitivity eigenstructure assignment
	Mathematica demonstration

Week 7:

22 March 2016

FREQUENCY DOMAIN APPROACHES TO ROBUST CONTROL

LOOP SHAPING

	Weighted sensitivity
	Mixed sensitivity
	Scaling

MATLAB Mu-Synthesis Toolbox TUTORIAL

Week 8:

29 March 2016

GENERALISED PROBLEM FORMULATION

General control problem formulation

Linear Fractional Transformations

State-space Representations

Week 9:

5 April 2016

STABILITY ANALYSIS

	Poles of MIMO System
	Well-posedness
	Internal Stability
	Stabilizing Controllers and Youla Parameterization

Week 10:

12 April 2016

MIDTERM EXAM

Week 11:

19 April 2016

OPTIMAL CONTROL

Solution of the H_inf Optimal Control Problem via Ricatti Equations

Solution of the H₂ Optimal Control Problem via Ricatti Equations

Week 12:

26 April 2016

OPTIMAL ROBUST CONTROL

Representimg Model Uncertainties in General Plant Formulation

Robust Stability Problem

Week 13:

3 May 2016

OPTIMAL ROBUST CONTROL

Robust Performance Problem

Mu Synthesis

Week 14:

10 May 2016

FINAL PROJECT PRESENTATIONS

2015/2016 Academic Year - Spring

Robust Control Systems

Course Plan