EE695R: Introduction to Robust Control

Announcements:

• New! Final projects presentation schedule has been posted. (Date posted: Mon Dec 8 07:00:52 EST 2003)
• New! Homework 6 solutions have been posted. (Date posted: Mon Dec 8 07:00:52 EST 2003)
• Homework 5 solutions and Homework 6 have been posted. (Date posted: Wed Nov 12 17:05:11 EST 2003)
• Midterm solutions have been posted. (Date posted: Mon Nov 3 16:47:59 EST 2003)
• Homework 4 solutions and Homework 5 have been posted. (Date posted: Thu Oct 23 17:41:33 EST 2003)
• The due date for Homework 4 has been postponed to October 23. (Date posted: Wed Oct 8 15:07:41 EST 2003)
• The due date for Homework 4 has been postponed to October 16. (Date posted: Wed Oct 8 07:48:32 EST 2003)
• New lecture notes have been posted. (Date posted: Tue Sep 30 15:54:40 EST 2003)
• Homework 4 has been posted. (Date posted: Tue Sep 30 15:54:40 EST 2003)
• Homework 3 solution has been posted. (Date posted: Tue Sep 30 15:54:40 EST 2003)
• Homework 3 has been posted. (Date posted: Tue Sep 16 14:24:03 EST 2003)
• Homework 2 solution has been posted. (Date posted: Tue Sep 16 14:24:03 EST 2003)
• Homework 1 solution has been posted. (Date posted: Mon Sep 15 08:20:08 EST 2003)
• Homework 2 has been posted. (Date posted: Wed Sep 3 08:37:53 EST 2003)
• Classes cancelled on September 9 and September 11 (make-up classes to be determined)
• The class will meet on August 28 (thursday). Please disregard the announcement I made in class regarding class cancellation.
• If you would like to by the LMI book from SIAM, let me know by September 2. I will collect the orders and place them as a SIAM member.

• Basic course info. (time, place, teaching staff, requirements & exams, textbook, prerequisites)
• Course description, outline, etc.
• List of handouts

When and where

Teaching staff

Professor: Venkataramanan Balakrishnan

Office: MSEE 252

Tel: (765) 494-0728

Email:

Office hours: By appointment.

Textbook and optional references

• Linear Matrix Inequalities in System and Control Theory, S. Boyd, L. El Ghaoui, E. Feron, and V. Balakrishnan. Vol. 15 in SIAM Studies in Applied Mathematics, 1994.
• Robust and Optimal Control, K. Zhou, J.C. Doyle and K. Glover, Prentice-Hall, 1996.
• New Tools for Robustness of Linear Systems, B.R. Barmish, MacMillan, 1994.
• Linear Robust Control, M. Green and D.J.N. Limebeer, Prentice Hall, 1995.

Course requirements/exams

• Occasional homework assignments, which may involve some simple Matlab programming
• One take-home midterm exam
• A final project

You are allowed, even encouraged, to work on the homework in small groups, but you must write up your own homework to hand in.

Grading

• homework 20%
• midterm 30%
• final project 50%

Prerequisites

Course description

One of the most useful qualities of a properly designed feedback control system is robustness, i.e., the ability of the closed-loop system to continue performing satisfactorily despite large variations in the (open-loop) plant dynamics. This course will provide an introduction to the analysis and design of robust feedback control systems. Topics covered: modeling and paradigms for robust control; robust stability and measures of robust performance; analysis of robust stability and performance; design for robust stability and performance.

Course outline

Robust control -- motivation and overview

Paradigms for robust control

Measures of robustness

Computation of robustness measures

Robust synthesis