|
|
Course Description
| |
|
| Course Name: |
Robust Control |
| Course No. |
EE - 43131 |
| Professor: |
Dr.
Hamid D. Taghirad |
| Semester: |
Spring 90 |
| Room and Time: |
Sat-Mon: 11:00-12:30 Room 204 |
| Office Hours: |
Sat-Mon: 9:30-11:00 Room 321 |
Course Contents (pdf)
In this course the stability and performance analysis of feedback system in
the presence of model uncertainty are introduced, and robust
controller synthesis methods for uncertain systems are presented. The scope
of the course is limited to linear systems, LFT type of uncertainty, H∞
control and μ-analysis and synthesis. In addition to elaborate the required
theory, the students learn how to use
Robust Control Toolbox of Matlab.
Moreover, a comprehensive design project is thoroughly accomplished by the
students as a term project.
The tentative course contents are as following.
| Time: |
Teaching Contents |
| Week 1 |
1. Introduction:
Modeling,
uncertainty and robustness,
Sensitivity
function,
General
regulator problem,
Small-gain
theorem and H∞ |
| Week 2 |
2.
Norms:
Norms of signals, Norms of
systems, Relation between signals and systems norm, Computing 2 and ∞ norms,
Multivariable norms |
| Week 3 |
3.
Notion of robustness:
Plant uncertainty,
different types of uncertainty, parametric uncertainty, unstructured
uncertainty, illustrative examples. (Robust
control Toolbox) |
| Week 4 |
3.
Notion of robustness:
Robust stability, Robust performance, Plant factorization
|
| Week 5 |
3.
Notion of robustness:
Controller parametrization,
Design constraints, algebraic constraints, analytic constraints,
interpolation conditions, waterbed effect. |
| Week 6 |
4.
Robust stability
solution: Model matching,
Solution to model matching, (NP) problem. |
| Week 7 |
4.
Robust stability
solution: Design for robust
stability, Comprehensive case study.
|
| Week 8 |
4.
Nominal performance solution:
Design for nominal performance, Comprehensive case
study. |
| Week 9 |
Midterm Exam
|
| Week 10 |
5. Mixed
Sensitivity
Problem: Definition
to mixed sensitivity, The augmented state-space model.
(Robust
control Toolbox) |
| Week 11 |
5.
Mixed Sensitivity
Problem:
H2 Solution, comprehensive example. (Robust
control Toolbox) |
| Week 12 |
5.
Mixed Sensitivity
Problem: H∞ Solution,
comprehensive example (Robust
control Toolbox) |
| Week 13 |
6.
μ Analysis
and synthesis:
Structured
singular values,
μ
-Analysis. |
| Week 14 |
6.
μ Analysis
and synthesis:
μ
-Synthesis,
Comprehensive
case studies.(Robust
control Toolbox) |
| Week 15 |
6.
μ Analysis
and synthesis:
Comprehensive
case studies, Space Shuttle, Highly Manuverable Aircraft (HIMAT).(Robust
control Toolbox) |
| |
|
References:
|
1 |
Doyle, Francis, Tannenbaum,
“Feedback Control Theory” ,Macmillan Publishing,
1990 . |
|
2 |
Zhou K.,
with J. Doyle, "Essentials of Robust Control", Prentice Hall, 1998.
|
|
3 |
Skogestad S.
and I. Postlethwaite "Multivariable Feedback Control", John Wiley &
Sons, 1996. |
|
4 |
G.E.
Dullerud and F. Paganini, "A course in Robust Control Theory: A convex
Approach" , Springer Verlag, 1991. |
|
5 |
P.R.
Belanger, “Control Engineering, A modern approach”, Saunders
College, 1995. |
|
6 |
“Robust
toolbox", user manual, version 3.1.1, Mathworks, 2006. |
|
7 |
Francis B. "A Course in H-infinity Control Theory", Lecture
Notes in Control and Information Sciences, Vol. 88, 1987. |
|
8 |
Selected papers and handouts. |
|
|
|
Assignments
| Assignments (pdf) |
Solved Problems |
Projects (pdf) |
Exams (pdf) |
| Assignment 1 |
|
Solution |
SP1,
SP2,
SP3 |
CP1
|
Midterm, |
| Assignment 2 |
|
Solution |
KTH |
Matlab files |
Final |
| Assignment 3 |
|
Solution |
Stuttgart |
CP2
|
|
| Assignment 4 |
|
Solution |
Purdue |
CP3 |
Final Grades |
| |
|
|
SamplePapers |
|
|
Course
Evaluation
For Those of you who wants to provide me your valuable
course evaluation
and comments.
Course Documents:
| Course Materials (pdf): (links corrected) |
| Chapter
1,
Chapter
2, Chapter
3-1,
Chapter
3-2, Chapter
4, Chapter
5, Chapter
6-1,
Chapter
6-2 |
| Main Textbook (pdf): |
| part 1,
part 2,
part 3, part 4,
part 5,
part 6, part 7,
part 8,
part 9, part 10,
part 11,
part 12, Refs. |
| Matlab Toolboxes user manuals (pdf): |
|
Robust
control Toolbox |
LMI toolbox |
µ-synthesis toolbox |
| Other handouts (pdf): |
|
Mixed H2-H∞ |
Dr. Zames Handout
on Bode Theorem and Non-min phase systems |
|
An Introductory Tutorial to QFT (pdf) |
Developed Programs
| Course Examples (m-files): |
| Robust stability 1, Robust stability 2, mixed sensitivity,
flexible beam, mu-analysis, space shuttle, HIMAT (zip) |
| Mu-synthesis file formats: (zip) |
Software
Related Papers
|
1. |
State-space
solutions to standard H/sub 2/ and H/sub infinity / control problems,
Doyle, J.C.;
Glover, K.;
Khargonekar, P.P.;
Francis, B.A. Source: IEEE
Transactions on Automatic Control, v 34, n 8, Aug. 1989, p 831-47 |
|
2. |
State-space formulae for all
stabilizing controllers that satisfy an H/sub infinity /-norm bound and
relations to risk sensitivity,
Glover, K.;
Doyle, J.C. Source: Systems &
Control Letters, v 11, n 3, Sept. 1988, p 167-72 |
|
3. |
Simplifying the H/sup infinity /
theory via loop shifting,
Safonov, M.G.;
Limebeer, D.J.N.
Source: Proceedings of the 27th IEEE Conference on Decision and
Control , 1988, p 1399-404 vol.2 |
|
4. |
Optimal, constant I/O
similarity scaling for full-information and state-feedback control
problems,
Packard, A.;
Kemin Zhou;
Pandey, P.;
Leonhardson, J.;
Balas, G.
Source: Systems & Control Letters, v 19, n 4, Oct. 1992, p 271-80 |
|
5. |
An LMI-based parametrization of
all H/sub infinity / controllers with applications;
Gahinet, P.;
Apkarian, P.
Source: Proceedings of the 32nd IEEE Conference on Decision and
Control (Cat. No.93CH3307-6), 1993, pt. 1, p 656-61 vol.1 |
|
6. |
All controllers for the general
H/sub infinity / control problem: LMI existence conditions and state
space formulas;
Iwasaki, T.
;
Skelton, R.E.
Source: Automatica, v 30, n 8, Aug. 1994, p 1307-17 |
|
7. |
Multiobjective output-feedback
control via LMI optimization,
Scherer, C.;
Gahinet, P.;
Chilali, M.
Source: IEEE Transactions on Automatic Control, v 42, n 7, July
1997, p 896-911 |
|
8. |
H/sub infinity / design with pole
placement constraints: an LMI approach;
Chilali, M.;
Gahinet, P.
Source: IEEE Transactions on Automatic Control, v 41, n 3, March
1996, p 358-67 |
|
9. |
mu -analysis and synthesis
Toolbox ( mu -tools),
Balas, G.J.
Doyle, J.C.;
Glover, K.;
Packard, A.;
Smith, R.
Source: Automatica, v 30, n 4, April 1994, p 733-5 |
|
10. |
The complex structured singular
value;
Packard, A.
;
Doyle, J.
Source: Automatica, v 29, n 1, Jan. 1993, p 71-109 |
|
11. |
H.D. Taghirad and P.R.
Belanger, H∞ -based robust torque control
of harmonic drive systems, Journal of
Dynamic Systems, Measurements, and Control, ASME Pub., 123(3) pp 338-345, Sept.
2001. |
|
12. |
H.D. Taghirad and s. Gholampour,
Robust position control of hydraulic
robotic shoulder, In the Proceedings of the 12th
International Conference on Electrical Engineering, May 2004, Mashad. |
|
13. |
M. Tavakoli, H. D. Taghirad and M.
Abrishamchian,
Parametric and
Nonparametric Identification and Robust Control of a Rotational/Translational
Actuator, In Proceedings of The Fourth International Conference on Control
and Automation (ICCA'03), pp. 765-769, June 2003, Montreal, Canada. |
|
14. |
H.D. Taghirad and A. Shariati,
H∞ control of active suspension
system for Ľ car model with hydraulic actuators, in the proceeding of 12th
International conference of Electrical Engineering, Shiraz, May 2003, Vol 3, pp
60-67. |
|
15. |
H.D. Taghirad and GH.
Bakhshi, Composite-H∞ Controller Synthesis for Flexible Joint Robots,
Submitted to the IEEE International Conference on Intelligent and Robotic
Systems, 2002. |
|
16. |
H.D. Taghirad and S.
Afshar, Linear identification and PID
controller design and implementation on a SCARA robot, Proceedings of 8th International Conference on Electrical
Engineering, May 1999, Isfahan. |
|
17. |
H.D. Taghirad and P.R.
Belanger, Robust friction compensation for harmonic drive system, Proceedings of
IEEE international Conference on Control Application, pp 547-551, 1997, Trieste, Italy. |
|
18. |
H.D. Taghirad and P.R.
Belanger, H∞-based
robust torque control of harmonic drive systems, Proceedings of IEEE
international Conference on Control Application, pp 990-994, 1997, Trieste,
Italy. |
|
19. |
H.D. Taghirad and P.R.
Belanger, Intelligent torque sensing and robust torque control of harmonic drive
under free-motion, In Proceedings of the IEEE International Conference on
Robotics and Automation, 2:1749-54, April 1997. |
|
20. |
H.D. Taghirad and P.R.
Belanger, Robust torque control of harmonic drive under constrained-motion, In
Proceedings of the IEEE International Conference on Robotics and Automation,
1:248-253, April 1997. |
Related Links
|
