KOM 604E – Robust Control Systems

Essential Information

Course Code: KOM 604E
Term: 2024 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 (08:30 - 11:30)
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:
13 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:
    20 February    		 THE CONCEPT OF NORMS
    Norms of signals and systems

  • L2 norm
  • L inf norm
  • H2 norm
  • H inf norm
    		•
    Week 3:
    27 February    		 PRELIMINARIES ON MIMO SYSTEMS

  • Frequency response
  • Singular Value Decomposition
    CLASSICAL ROBUST CONTROL TECHNICS

  • Gain and phase margin
    		•
    Week 4:
    5 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:
    12 March    		 POLE PLACEMENT and POLE COLOURING

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

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

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

  • General control problem formulation
  • Linear Fractional Transformations
    		•
    Week 9:
    19 April    		 SPRING BREAK
    Week 10:
    16 April    		 MIDTERM EXAM
    Week 11:
    23 April    		 GENERALISED PROBLEM FORMULATION

  • State-space Representations

    STABILITY ANALYSIS

  • Poles of MIMO System
  • Well-posedness
  • Internal Stability
    		•
    Week 12:
    30 April    		 STABILITY ANALYSIS

  • Stabilizing Controllers and Youla Parameterization
    • Week 13:
    7 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:
    14 May    		 OPTIMAL ROBUST CONTROL

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