Coursecode: wb2415

Coursename: Robust Control

ECTS creditpoints: 6

Faculty of  Mechanical Engineering and Marine Technology

Lecturer(s): Scherer, prof.dr. C.W.

Tel.:  015-27 85899

Catalog data:

·       Linear systems

·       Robust stability and performance analysis

·       Structured singular values

·       H-infinity controller synthesis

·       Robust performance synthesis

Course year: MSc 1st year

Period: 2A

Hours p/w: 4

Other hours:

Assessment:

Written exercises and oral exam

Assessm.period(s):

(see academic calendar)

Prerequisites: wb2420, wb2421

Follow up: wb2416

Detailed description of topics:

·       Recap on background in linear systems theory

·       Stabilizing controllers and the concept of the generalized plant

·       Uncertainty 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:

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

Computer use:

Computer exercises with Matlab "mu-Analysis and Synthesis Toolbox".

Laboratory project(s):

Design content:

Percentage of design: