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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.

Lecturer

Dr. Matthias Voigt

Schedule

Lecture: Tuesday, 8:15-9:45am in Geom H5 Exercise: Thursday every even week, 10:15-11:45am in Geom 142

Prerequisites

Necessary: linear algebra and calculus, Recommended: mathematical systems and control theory.

Recommended Literature

My lecture preparations will follow the excellent lecture notes by Carsten Scherer (University of Stuttgart). Further literature: K. Zhou, J. C. Doyle, and K. Glover. Robust and Optimal Control, Prentice-Hall, Englewood Cliffs, NJ, 1996. ISBN 978-0-134-56567-5.

Exams

There will be an oral exam at the end of the semester. Possible dates will be announced later.

Exercises

Every second week there will be an exercise session. The exercise sheets will appear on Moodle.