Course Name: Robust H-infinity Control
Course No.: ECE 1124021
Teacher: Prof. Hamid D. Taghirad
Taught Semesters: Fall (2017, 2015, 2012, 2011, 2009, 2007, 2005, 2004, 2002)
Course Name: Robust H-infinity Control
Course No.: ECE 1124021
Teacher: Prof. Hamid D. Taghirad
Taught Semesters: Fall (2017, 2015, 2012, 2011, 2009, 2007, 2005, 2004, 2002)
The tentative course contents are as following:
Time: | Teaching Contents |
Week 1 | Introduction: Modeling, uncertainty and robustness, Sensitivity function, general regulator problem, Small-gain theorem and H-infinity control. |
Week 2 | Norms: Norms of signals, Norms of systems, Relation between signals and systems norm, Computing 2 and ∞ norms, Multivariable norms, Hilbert and Banach spaces. |
Week 3 | Robust problems Modeling: Plant uncertainty, different types of uncertainty, parametric uncertainty, unstructured uncertainty, illustrative examples. |
Week 4 | Robust problems Analysis: Internal stability, Robust stability, based on Sensitivity functions, H∞ norms, and structured singular values. |
Week 5 | Robust controller synthesis: Controller parameterization, Design constraints, algebraic constraints, analytic constraints, interpolation conditions, waterbed effect. |
Week 6 | Mixed Sensitivity Problem: Definition to mixed sensitivity, the augmented state-space model. |
Week 7 | Solution to general regulator problem (Methods): H2, H∞ solutions based on Ricatti Equations. H∞ solutions based on LMI, H2/ H∞ solutions. |
Week 8 | Solution to general regulator problem (Methods): H∞ solutions based on LMI, H2/ H∞ solutions. |
Week 9 | Midterm Exam |
Week 10 | Solution to general regulator problem (implementations): Design for SISO and Non-minimum phase, Comprehensive case study. |
Week 11 | Solution to general regulator problem (implementations): Design for unstable and Non-minimum phase systems and disturbance rejection, Comprehensive case study. |
Week 12 | μ Analysis: Structured singular values, μ -Analysis. |
Week 13 | μ synthesis: μ -Synthesis, Comprehensive case studies. |
Week 14 | Case studies: Control of F14 Aircraft, robust problem formulation, controller synthesis, performance evaluation and improvement. |
Week 15 | Case studies: Three inertia system: robust modeling and identification, weighting function selection, H∞ and H2/ H∞ controller design and improvement, μ synthesis, controllers performance evaluations. |
1 | Hamid D. Taghirad, M. Fathi, F. Zamani O., “Robust H-infinity Control”, K. N. Toosi University of Technology Publication, 3rd Ed. 2018. |
2 | Doyle, Francis, Tannenbaum, “Feedback Control Theory” ,Macmillan Publishing, 1990 . |
3 | Zhou K., with J. Doyle, “Essentials of Robust Control”, Prentice Hall, 1998. |
4 | Skogestad S. and I. Postlethwaite “Multivariable Feedback Control”, John Wiley & Sons, 1996. |
5. | G.E. Dullerud and F. Paganini, “A course in Robust Control Theory: A convex Approach” , Springer Verlag, 1991. |