Robust Linear Control (EE 60555)

University of Notre Dame


Fall 2016 - Enroll in EE60555 section 01
Pasquerilla Center 105 - TR 12:30 PM - 01:45PM

Course Vault
Description: This course covers techniques used in the design of robust optimal controllers for linear continuous-time systems. The course treats controller synthesis as a mixed sensitivity minimization problem that balances closed-loop system performance against structure models for plant uncertainty. This minimization is done with respect to the closed-loop system's H-infinity norm. The course provides a comprehensive treat of H-infinity control that includes its relationship to H2 control, model reduction, classical loopshaping, and convex methods. The student will use MATLAB's robust control toolbox to synthesize H-infinity controllers. Prerequisites are courses in graduate level Linear Systems Theory and undergraduate level linear feedback control.

Topics

  • Introduction to Robust Linear Control
  • Signals, Systems, and Performance
  • Internal Stability
  • Robust Control and Uncertainty
  • Loopshaping - the classical approach to robust control
  • Hinf Control - a postmodern approach to robust control
  • H2/Hinf Controller Synthesis
  • Model Reduction
Grading: Homework 50% - Midterm Exams (1) 25% - Final Exam 25%
Instructor: Michael Lemmon, Dept. of Electrical Engineering, University of Notre Dame, Fitzpatrick 264, lemmon at nd.edu
Textbook: Lecture Notes (see vault)
Additional References:
  1. M. Green and D. Limebeer, Linear Robust Control, Prentice-Hall, 1995.
  2. K. Zhou, J. Doyle, and K. Glover, Robust and optimal control, Prentice-Hall, 1996
  3. R. Sanchez-Pena and M. Sznaier, Robust systems: theory and applications John Wiley, 1998.
  4. J. Doyle, B. Francis, and A. Tannenbaum, Feedback Control System, MacGraw-Hill, 1993.
  5. P. Antsaklis and A. Michel, Linear Systems, McGraw-Hill, 1997.
  6. T. Kailath, Linear Systems , Prentice-Hall, 1980