EE5235/AEM8425: Robust Control

Professor Salapaka
5-161, EECS Bldg. (Keller Hall), 200 Union St. SE
Email: murtis@umn.edu
Ph: 1-612-625-7811
URL: http://www.ece.umn.edu/users/murtis/

Announcements: Exam 1 will be on Tuesday March 22nd; closed book and closed notes exam.

Time
8:15-9:30

Place
Keller 3-125

Office Hours
Tu: 9:30-11 and by appointment

Topics

• Classical control review
• Single input Single output Systems
  • Typical specifications and weight selections
  • Fundamental limitations
  • Stability
  • Coprime factorization and Youla Parametrization
  • LFT framework
  • Multiplicative, Additive uncertainty description
  • Controller design for nominal performance
  • Controller design for robust performance
• Multiple-input Multiple output Systems
  • Typical specifications and weight selections
  • Fundamental limitations
  • Stability
  • Coprime factorization and Youla Parametrization
  • LFT framework
  • Multiplicative, Additive uncertainty description
  • Controller design for nominal performance
  • Controller design for robust performance
• Pontryagins Maximum principle

Recommended Texts

• Feedback Control Theory, Doyle, Francis, Tannenbaum, Macmillan Press (can be downloaded from Prof. Francis website http://www.control.utoronto.ca/people/profs/francis/dft.html
• Essentials of Robust Control, Kemin Zou and John Doyle, Prentice Hall, 1998.
• Robust and Optimal Control, Kemin Zou, John Doyle, and Keith Glover, Prentice Hall, 1995.
• Multivariable Feedback Control: Analysis and Design, Sigurd Skogestad and Ian Postlethwaite, John Wiley & Sons,
• A Course in Robust Control Theory: A Convex Approach (Texts in Applied Mathematics)

Tentative Grading Policy
The course will rely heavily on an extensive set of homeworks. 50% Homeworks, 25% Midterms, 25% Finals.

Course Notes:

robustControlNotes.pdf

NyquistNotes.pdf

 Homeworks :

Hw 1 (Due January 27th)

Hw 2 (Due Feb 10th)

Hw 3(Due March 1st)

Hw 4 (first 10 problems, Due March 10th)

Hw 5 (due April 5th)

Hw 6 (due April 12th)

Hw 7 (and solutions)

Hw 8 (due April 19th)

Hw 9 (due April 26th)