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EE5235/AEM8425: Robust Control


Professor Salapaka
5-161, EECS Bldg. (Keller Hall), 200 Union St. SE
Email: murtis@umn.edu
Ph: 1-612-625-7811
URL: http://www.ece.umn.edu/users/murtis/


Announcements: Exam 1 will be on Tuesday March 22nd; closed book and closed notes exam.

 

Time
8:15-9:30

Place
Keller 3-125

Office Hours
Tu: 9:30-11 and by appointment

Topics

  • Classical control review
  • Single input Single output Systems
    • Typical specifications and weight selections
    • Fundamental limitations
    • Stability
    • Coprime factorization and Youla Parametrization
    • LFT framework
    • Multiplicative, Additive uncertainty description
    • Controller design for nominal performance
    • Controller design for robust performance
  • Multiple-input Multiple output Systems
    • Typical specifications and weight selections
    • Fundamental limitations
    • Stability
    • Coprime factorization and Youla Parametrization
    • LFT framework
    • Multiplicative, Additive uncertainty description
    • Controller design for nominal performance
    • Controller design for robust performance
  • Pontryagins Maximum principle

Recommended Texts

 


Tentative Grading Policy
The course will rely heavily on an extensive set of homeworks. 50% Homeworks, 25% Midterms, 25% Finals.

Course Notes:

robustControlNotes.pdf

NyquistNotes.pdf

lecture1 lecture2
lecture3 lecture4
lecture5 lecture6
lecture7 lecture8
lecture9 lecture10
Lecture11 Lecture12
Lecture13 Lecture14
Lecture15 Lecture16
Lecture17 Lecture18
Lecture19 Lecture20
Lecture21 Lecture22
Lecture23 Lecture24
Lecture25  
   
   

 

 Homeworks :

Hw 1 (Due January 27th)

Hw 2 (Due Feb 10th)

Hw 3(Due March 1st)

Hw 4 (first 10 problems, Due March 10th)

Hw 5 (due April 5th)

Hw 6 (due April 12th)

Hw 7 (and solutions)

Hw 8 (due April 19th)

Hw 9 (due April 26th)