Multivariable Control (EE 60555)

University of Notre Dame



Description: This course covers techniques used in the design of robust optimal controllers for linear continuous-time systems. The course treats controller synthesis as a mixed sensitivity minimization problem that balances closed-loop system performance against structured models for plant uncertainty. This minimization is done with respect to the closed-loop system's H-infinity norm. The course provides a comprehensive treatment of H-infinity control that includes its relationship to H2 controllers, balanced model reduction, and the algebraic Riccati equation. The student will be shown how to use Matlab's robust control toolbox to synthesize H-infinity controllers.

Topics:
  1. H2 and H-infinity spaces
  2. Internal Stability
  3. Performance specifications and limitations
  4. Model uncertainty and robustness
  5. Linear fractional transformations
  6. H2 Optimal Control
  7. H-infinity Optimal Control
  8. Balanced model reduction
  9. Algebraic Riccati equation


Grading: 20 % homework, 40 % midterms, 40% final.
Instructor: Michael Lemmon, Dept. of Electrical Engineering, University of Notre Dame (lemmon at nd dot edu)
Textbooks:
  1. required: K. Zhou, "Essentials of Robust Control", Prentice-Hall, 2000.