General information
Catalog no.: | 036012 (joint undergraduate/graduate) |
Credit points: | 3 |
Prerequisites: | 035188—Control Theory |
Grading policy: | Homework (100%, 4 out of 5, provided all solutions are submitted) Homework solutions are to be submitted electronically in PDF format (typeset, not a scan of a handwritten text) to . |
Lecturer
Leonid Mirkin, 210 D. Dan and Betty Kahn Bld., phone: 3149, email:Classes
Wednesday, 14:30-17:20, room 450, Lady Davis Bld.Syllabus
- Review of classical single-loop control
- Static systems: linear algebra revised
- Frozen-time signals and static systems: basic definitions
- Structural properties of static systems (kernel and image spaces, SVD, etc)
- Dynamical systems and transfer functions
- Signals and systems in time and frequency domains
- LTI systems in transformed domains (transfer functions, system norms)
- Coprime factorization over H-inf
- Real-rational transfer functions (McMillan degree, poles, transmission zeros)
- State-space realizations of transfer matrices
- Structural properties (controllability, observability, minimality, Kalman canonical decomposition)
- State-space machinery
- Model reduction by balanced truncation
- Interactions between systems
- Basic interconnections and cancelations
- Linear fractional transformations
- Stability of interconnections
- Internal stability and well posedness
- Closed-loop stabilization and all stabilizing controllers (Youla-Kučera)
- Open-loop stabilization
- Performance via optimization methods
- The "standard problem"
- Weighted and mixed sensitivity problems
- Performance limitations
- Design method: H-inf loop shaping
Literature:
- Course lectures notes (last updated 4.3.2024, slightly modified §4.3.3 on p. 85).
- Skogestad, S. & I. Postlethwaite. Multivariable Feedback Control: Analysis and Design, John Wiley & Sons, 1996.
- Zhou, K., J. C. Doyle, & K. Glover. Robust and Optimal Control, Prentice Hall, 1995.
- M. Green and D. J. N Limebeer. Linear Robust Control, Prentice Hall, Englewood Cliffs, 1995.
- Doyle, J. C., B. A. Francis, & A. Tannenbaum. Feedback Control Theory, MacMillan, 1992.
Lectures
- Chapter~1 (also in beamer mode)
- Chapter~2 (also in beamer mode)
- Chapter~3 (also in beamer mode) (last updated 13.2.2024)
- Chapter~4 (also in beamer mode) (last updated 28.2.2024)
- Chapter~5 (also in beamer mode)
- Chapter~6 (also in beamer mode)
Homework
- Homework assignment no. 1, submission deadline: Feb 6, 8:00pm
- Homework assignment no. 2, submission deadline: Feb 27, 8:00pm
- Homework assignment no. 3, submission deadline: Mar 12, 8:00pm
- Homework assignment no. 4, submission deadline: Mar 26, 8:00pm