Course Information

Course objectives

The course will give an introduction to analysis and design of robust multivariable control systems. The focus is on inherent limitations in feedback systems and on stability and performance in the presence of uncertainty. Important topics include: signal and system norms, performance specifications and inherent limitations, uncertainty descriptions,  robust stability and robust performance, structured uncertainty and mu, H_infty- and H_2-optimal control, LQG cast as H_2-optimal control, H_infty loop shaping, mu-synthesis, LMIs, gap metrics.

Course litterature and software

• The course follows the book:

Sigurd Skogestad and Ian Postlethwaite, Multivariable Feedback Control: Analysis and Design, 2nd ed, Wiley Interscience, 2005

• Supplementary reading

Kevin Zhou and John C. Doyle, Essentials of Robust Control, Prentice-Hall, 1998

• Handouts

Disposition

The course consists of 8 lectures and 8 exercises with compulsory hand-in. At the end of the course there will be a take-home open book exam.

Grading Criteria

The course is grade pass/fail and the grade pass requires

• active presence at lectures (unless excused)
• at least 80% score on all exercise hand-ins.
• pass on take-home exam at end of course