MAE 284 - Robust and Multivariable Control (Spring 2004)
Course web address:
http://www-ames.ucsd.edu/research/krstic/krstic/teaching/284/284.html
Instructor: Prof. Miroslav Krstic,
1808 EBUI, 822-1374, krstic@ucsd.edu
TEXTs:
Green and Limebeer, Linear Robust Control, Prentice Hall, 1995 (main text, out
of print).
Kemin Zhou, Essentials of Robust Control, Prentice Hall, 1997 (supplemental
text).
Prerequisites:
Linear Systems (MAE 280B) or consent of instructor
- Time and Place: TuThu, 2-3:20, HSS CENTR 205
Office Hours:
- M 2:30-3:30 or by appointment (e-mail, phone)
- Grading: (click on highlighted items for problem sets)
- Homework 35%
Final 65%
Course Objective:
To introduce the students to methods for robust control of linear dynamical systems,
where a priori known bounds of uncertainties are used to design a
single linear controller. The focus is on state space methods for multivariable
robust control, input-output properties and norms of systems, and optimal model
reduction.
Topics:
- Introduction - Control Objectives: model matching, disturbance attenuation,
robust stability.
- Multivariable Frequency Response Design. Singular values. Robust stability.
Performance.
- Signals and Systems. Linear spaces, norms, inner products,
operators, induced norms. Small gain theorem. Passivity. Bounded real lemma.
- Linear Fractional Transformations.
- LQG Control. Full information + Kalman filter = Measurement feedback.
- Full Information H-infinity Controller. Differential games. Riccati
equation. Necessity and sufficiency.
- H-infinity Filter.
- H-infinity Generalized Regulator.
- Model Reduction (time permitting). Balanced realization. Truncation.
Hankel norm approximations. Nehari's theorem.