Robust Control SoSe 2020
Moodle Page
All course materials are available on Moodle.
General Information
When designing control laws for dynamical systems it is important to take model uncertainties and external noise signals into account that can have a negative influence on the system's behavior. In this lecture, we will study different ways to model system uncertainties and noise. Then we will discuss appropriate optimization objectives and techniques that are used to construct robust controllers. The latter are giving guarantees on the performance of the controlled system and are robust under the influence of the uncertainties. The outline of this course is as follows:
- concepts from systems and control theory in a nutshell,
- stabilization of interconnections,
- uncertainty modeling, robust stability analysis, small gain theorem, and structured singular values,
- nominal performance specifications,
- robust performance analysis and the main loop theorem,
- nominal performance synthesis and the H∞ control problem,
- robust performance synthesis and the D/K iteration,
- optional: fixed-order controller design, integral quadratic constraints.
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Lecturer
Schedule
- Lecture: Tuesday, 8:15-9:45am in Geom H5
- Exercise: Thursday every even week, 10:15-11:45am in Geom 142
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Prerequisites
- Necessary: linear algebra and calculus,
- Recommended: mathematical systems and control theory.
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Recommended Literature
Exams
There will be an oral exam at the end of the semester. Possible dates will be announced later.
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Exercises
Every second week there will be an exercise session. The exercise sheets will appear on Moodle.
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