Coursecode: wb2415
Coursename: Robust Controller Analysis and Synthesis

DUT creditpoints: 4
ECTS creditpoints: 6
Subfaculty of Mechanical Engineering and Marine Technology
Lecturer(s): Dr. C. Scherer Tel.: 015-2785899
Catalog data:
  • Linear systems
  • Robust stability and performance analysis
  • Structured singular values
  • H¥ controller synthesis
  • Robust performance synthesis
 Course year: 4
Period: 0/0/0/4/0
Hours p/w: 4
Other hours:
Assessment: Paper and computer exercises
Assessm.period(s):
(see academic calendar)
Prerequisites: wb2302, wb2401
Follow up: wb2416
Detailed description of topics:
  • Recap on background in linear systems theory
  • Stabilizing controllers and the concept of the generalized plant
  • Uncertainties descriptions
  • The general framework of robust control
  • The structured singular value: Definition, properties, computation
  • Robust stability analysis
  • Nominal and robust performance analysis
  • Excursion: The algebraic Riccati equation
  • The H¥ control problem and its solution in terms of Riccati equations
  • Design of robust controllers
Course material: Lecture notes
References from literature:
  • S. Skogestad, I. Postlethwaite, Multivariable Feedback Control, John Wiley & Sons, 1997.
  • K. Zhou, J.C. Doyle, K. Glover, Robust and optimal control, Prentice Hall, 1996
Remarks (specific information about assesment, entry requirements, etc.):
Requires solid background on state-space descriptions of multivariable linear systems.
Goals:
Course provides theoretical background for knowledgeable use of the Matlab "mu-Analysis and Synthesis Toolbox".
Computer use:
Computer exercises with Matlab "mu-Analysis and Synthesis Toolbox".
Laboratory project(s):
Design content:
Percentage of design: