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Robust Control 25461 Spring 2010 Credits: 3 Level: Graduate Prerequisite: Modern Control Hours: Sunday, Tuesday, 1:30-3pm
initdk0.m, dkit.m, musynTAC.pdf ______________________
Course description: One of the most important properties of a well-designed feedback control system is its ability to perform satisfactorily despite uncertainty in plant model. This course presents fundamental concepts of robust control theory and its application in analysis and synthesis of controllers for linear systems subject to model uncertainties, noise and disturbances. Topics to be covered include:
1) Review of linear algebra and system theory: stability, norms, linear spaces, 2) Model reduction, 3) Performance specifications and limitations, uncertainty and robustness, 4) Robust stability and performance criteria, mu analysis and synthesis, 5) An introduction to Linear Matrix Inequalities (LMI) and semi-definite programming, 6) Application of LMIs in H2 and Hinf optimal control and filtering problems, 7) Miscellaneous topics (if time allows) such as multiobjective optimal control, l1 control, ...
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Grading: 1. Assignments: 25% 2. Quizzes: 10% 3. Mid-term exam: 25% 4. Final exam: 40%
__________________________________________________________ References: 1. K. Zhou and J. Doyle, "Essentials of robust control", Prentice Hall, 1998 (SEE) 2. M. Green and D. Limebeer, "Linear robust control", Prentice Hall, 1995 3. S. Boyd, L. El Ghaoui, E. Feron, and V. Balakrishnan, "Linear Matrix Inequalities in System and Control Theory", SIAM, 1997 (SEE) 4. H. Golub and C. Van Loan, "Matrix computations", John Hopkins University press 5. M. Dahleh and I. Diaz Bobillo, "Control of uncertain systems: A linear programming approach", Prentice Hall 6. H. Khalil, "Nonlinear systems", 2nd edition, Prentice Hall, 1996 7. S. Boyd, Convex optimization, Cambridge university press, 2004 (SEE) 8. N. Andrei, Modern control theory: A historical perspective (SEE) 9. C. Scherer, P. Gahinet, M.Chilali, “Multiobjective Output-Feedback Control via LMI Optimization”, (SEE)
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