Essential Information

Course Code: KOM 604E
Term: 2022 Spring
Lecturer: Prof. Dr. M. Turan Söylemez
Control and Automation Eng. Dept.
Room Num: 4207, Raylı Sistemler Lab, Tel: 212 - 285 35 70
Course Hours: Tuesday (12:30 - 15:30)
Course Books: 1) "Multivariable Feedback Control: Analysis and Design", S Skogestad and I Postlethwaite, 2005, Wiley
2) "Robust Systems Theory and Applications", R S Sanches Pena, and M Sznaier, 1998, Wiley
3) "Robust Control Design with Matlab", D-W Gu, P Hr Petkov and M M Konstantinov, 2005, Springer, ISBN: 9-781852-339838.
4) "Pole Assignment for Uncertain Systems", M. T. Söylemez, 1999, Research Studies Press, Baldock, England
5) "Eigenstructure Assignment for Control System Design", G. P. Liu and R. J. Patton, 1998, John Wiley & Sons
6) "Linear Systems: Robust and Optimal Control", A. Sinha, 2007, CRC Press
Grading Policy: 15% Midterm Exam
35% Homework
20% Final Project
30% Final Exam
Final Exam Enterance Condition: Weighted average of first two Homework Assignments and the midterm exam must be at least 25.
Home Page: http://web.itu.edu.tr/soylemezm/kom604e

Course Syllabus

Date Subjects
Week 1:
22 February
INTRODUCTION

  • Motivation
  • Definition of robustness and fragility
  • Classification of Robust Control Systems
  • Measuring Robustness
    THE CONCEPT OF NORMS

  • Vector norms
  • Matrix norms
  • Week 2:
    1 March
    THE CONCEPT OF NORMS
    Norms of signals and systems

  • L2 norm
  • L inf norm
  • H2 norm
  • H inf norm
  • Week 3:
    8 March
    PRELIMINARIES ON MIMO SYSTEMS

  • Frequency response
  • Singular Value Decomposition
    CLASSICAL ROBUST CONTROL TECHNICS

  • Gain and phase margin
  • Week 4:
    15 March
    POLE PLACEMENT and POLE COLOURING

  • Pole assignment for single input systems
  • Pole assignment for multi-input systems (dyadic and full-rank state-feedback methods)
  • Week 5:
    22 March
    POLE PLACEMENT and POLE COLOURING

  • Pole Colouring
  • Week 6:
    29 March
    ROBUST EIGENSTRUCTURE ASSIGNMENT

  • Low sensitivity eigenstructure assignment
  • Mathematica demonstration
  • Week 7:
    5 April
    FREQUENCY DOMAIN APPROACHES TO ROBUST CONTROL
    LOOP SHAPING

  • Weighted sensitivity
  • Mixed sensitivity
  • Scaling
    MATLAB Mu-Synthesis Toolbox TUTORIAL
  • Week 8:
    12 April
    GENERALISED PROBLEM FORMULATION

  • General control problem formulation
  • Linear Fractional Transformations
  • Week 9:
    19 April
    MIDTERM EXAM
    Week 10:
    26 April
    GENERALISED PROBLEM FORMULATION

  • State-space Representations

    STABILITY ANALYSIS

  • Poles of MIMO System
  • Well-posedness
  • Internal Stability
  • Week 11:
    3 May
    HOLIDAY - Term Interval
    Week 12:
    10 May
    STABILITY ANALYSIS

  • Stabilizing Controllers and Youla Parameterization
  • Week 13:
    17 May
    OPTIMAL CONTROL

  • Solution of the Hinf Optimal Control Problem via Ricatti Equations
  • Solution of the H2 Optimal Control Problem via Ricatti Equations
  • Week 14:
    24 May
    OPTIMAL ROBUST CONTROL

  • Representimg Model Uncertainties in General Plant Formulation
  • Robust Stability Problem
  • Robust Performance Problem
  • Mu Synthesis
  • Week 15:
    31 May
    FINAL PROJECT PRESENTATIONS