CDS 110b: Robust Stability - Revision history

Franco: /* Course Materials */

2007-03-06T00:26:22Z

Course Materials

← Older revision		Revision as of 00:26, 6 March 2007
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	* [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/2Mar07.mp3 MP3] of Friday lecture, 2 March 2007		* [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/2Mar07.mp3 MP3] of Friday lecture, 2 March 2007
	* {{cds110b-wi07 pdfs\|hw8.pdf\|HW #8}} (due 9 Mar 07 [Fri])		* {{cds110b-wi07 pdfs\|hw8.pdf\|HW #8}} (due 9 Mar 07 [Fri])
			* [[:media:Guaranteed_margins_for_LQG_regulators_-_doyle.pdf\| Guaranteed margins for LQG regulators, J. Doyle ]]

	== References and Further Reading ==		== References and Further Reading ==

Carson: /* Course Materials */

2007-03-02T23:36:28Z

Course Materials

← Older revision		Revision as of 23:36, 2 March 2007
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	* {{cds110b-wi07 pdfs\|L9-2_robstab.pdf\|Lecture notes on robust stability}}		* {{cds110b-wi07 pdfs\|L9-2_robstab.pdf\|Lecture notes on robust stability}}
	* [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/28Feb07.mp3 MP3] of Wednesday lecture, 28 Feb 2007		* [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/28Feb07.mp3 MP3] of Wednesday lecture, 28 Feb 2007
	* [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/~~3Mar07~~.mp3 MP3] of Friday lecture, 3 March 2007		* [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/2Mar07.mp3 MP3] of Friday lecture, 2 March 2007
	* {{cds110b-wi07 pdfs\|hw8.pdf\|HW #8}} (due 9 Mar 07 [Fri])		* {{cds110b-wi07 pdfs\|hw8.pdf\|HW #8}} (due 9 Mar 07 [Fri])

Carson: /* Course Materials */

2007-03-02T23:36:14Z

Course Materials

← Older revision		Revision as of 23:36, 2 March 2007
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	* {{cds110b-wi07 pdfs\|L9-2_robstab.pdf\|Lecture notes on robust stability}}		* {{cds110b-wi07 pdfs\|L9-2_robstab.pdf\|Lecture notes on robust stability}}
	* [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/28Feb07.mp3 MP3] of Wednesday lecture, 28 Feb 2007		* [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/28Feb07.mp3 MP3] of Wednesday lecture, 28 Feb 2007
			* [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/3Mar07.mp3 MP3] of Friday lecture, 3 March 2007
	* {{cds110b-wi07 pdfs\|hw8.pdf\|HW #8}} (due 9 Mar 07 [Fri])		* {{cds110b-wi07 pdfs\|hw8.pdf\|HW #8}} (due 9 Mar 07 [Fri])

Carson: /* Course Materials */

2007-03-02T17:13:05Z

Course Materials

← Older revision		Revision as of 17:13, 2 March 2007
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	* {{cds110b-wi07 pdfs\|L9-1_robstab.pdf\|Lecture slides on robust stability}}		* {{cds110b-wi07 pdfs\|L9-1_robstab.pdf\|Lecture slides on robust stability}}
	* {{cds110b-wi07 pdfs\|L9-2_robstab.pdf\|Lecture notes on robust stability}}		* {{cds110b-wi07 pdfs\|L9-2_robstab.pdf\|Lecture notes on robust stability}}
			* [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/28Feb07.mp3 MP3] of Wednesday lecture, 28 Feb 2007
	* {{cds110b-wi07 pdfs\|hw8.pdf\|HW #8}} (due 9 Mar 07 [Fri])		* {{cds110b-wi07 pdfs\|hw8.pdf\|HW #8}} (due 9 Mar 07 [Fri])

Murray: /* Course Materials */

2007-03-02T16:27:59Z

Course Materials

← Older revision		Revision as of 16:27, 2 March 2007
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	== Course Materials ==		== Course Materials ==
	* {{cds110b-wi07 pdfs\|L9-1_robstab.pdf\|Lecture slides}}		* {{cds110b-wi07 pdfs\|L9-1_robstab.pdf\|Lecture slides on robust stability}}
			* {{cds110b-wi07 pdfs\|L9-2_robstab.pdf\|Lecture notes on robust stability}}
	* {{cds110b-wi07 pdfs\|hw8.pdf\|HW #8}} (due 9 Mar 07 [Fri])		* {{cds110b-wi07 pdfs\|hw8.pdf\|HW #8}} (due 9 Mar 07 [Fri])

Murray at 16:26, 2 March 2007

2007-03-02T16:26:50Z

← Older revision		Revision as of 16:26, 2 March 2007
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	== Course Materials ==		== Course Materials ==
	* {{cds110b-wi07 pdfs\|L9-1_robstab.pdf\|Lecture slides}}		* {{cds110b-wi07 pdfs\|L9-1_robstab.pdf\|Lecture slides}}
	* {{~~cds 110b~~-wi07 pdfs\|hw8.pdf\|HW #8}} (due 9 Mar 07 [Fri])		* {{cds110b-wi07 pdfs\|hw8.pdf\|HW #8}} (due 9 Mar 07 [Fri])

	== References and Further Reading ==		== References and Further Reading ==

Murray at 16:26, 2 March 2007

2007-03-02T16:26:38Z

← Older revision		Revision as of 16:26, 2 March 2007
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	{{cds110b-~~wi06~~}}		{{cds110b-wi07}}
	This lecture describes how to model uncertainty in <math>H_\infty</math> control and provides conditions for checking robust stability in this framework. __NOTOC__		This set of lecture describes how to model uncertainty in <math>H_\infty</math> control and provides conditions for checking robust stability in this framework. __NOTOC__

	== ~~Lecture Outline ==~~		== Course Materials ==
	~~<ol type=I>~~		* {{cds110b-wi07 pdfs\|L9-1_robstab.pdf\|Lecture slides}}
	~~<li> Modeling uncertainty~~		* {{cds 110b-wi07 pdfs\|hw8.pdf\|HW #8}} (due 9 Mar 07 [Fri])
	~~<li> Robust stability~~
	~~<li> Preview: robust performance~~
	~~</ol>~~

	~~== Lecture~~ Materials ==
	* {{cds110b-pdfs\|L8-1_robstab.pdf\|Lecture ~~notes}~~} ~~({{cds110b-pdfs\|L8-1_robstab.mp3\|MP3~~}})
	* Reading: DFT, Chapter 4
	* {{~~cds110b~~-pdfs\|~~hw7~~.pdf\|HW #7}} (due 1 Mar)

	== References and Further Reading ==		== References and Further Reading ==
			* AM06, Sections 9.5, 12.1 and 12.2

	== Frequently Asked Questions ==		== Frequently Asked Questions ==
	~~'''Q: Is there any way to bode plot (exp(-ts)-1) in MATLAB?'''~~
	~~<blockquote>~~
	<p>You can't use the 'bode' command, since the exponential makes that expression not a polynomial transfer function. If all you're interested in is the magnitude though, (as in this week's homework set) you can plot that explicitly, as follows. (This should look familiar for those of you who took 110A, since we had you do a bode plot without using the bode command a long time ago.)</p>

	~~<pre>~~
	~~omega = logspace(some_start, some_end, some_num);~~
	~~loglog(omega, abs(exp(-tiomega)-1));~~
	~~</pre>~~

	~~<p>I recommend doing help logspace and help loglog to understand what those functions do -- they're not too tricky.</p>~~
	~~</blockquote>~~

Gillula: /* Frequently Asked Questions */

2006-02-28T19:26:04Z

Frequently Asked Questions

← Older revision		Revision as of 19:26, 28 February 2006
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	'''Q: Is there any way to bode plot (exp(-ts)-1) in MATLAB?'''		'''Q: Is there any way to bode plot (exp(-ts)-1) in MATLAB?'''
	<blockquote>		<blockquote>
	You can't use the 'bode' command, since the exponential makes that expression not a polynomial transfer function. If all you're interested in is the magnitude though, (as in this week's homework set) you can plot that explicitly, as follows. (This should look familiar for those of you who took 110A, since we had you do a bode plot without using the bode command a long time ago.)		<p>You can't use the 'bode' command, since the exponential makes that expression not a polynomial transfer function. If all you're interested in is the magnitude though, (as in this week's homework set) you can plot that explicitly, as follows. (This should look familiar for those of you who took 110A, since we had you do a bode plot without using the bode command a long time ago.)</p>

			<pre>
	omega = logspace(some_start, some_end, some_num);		omega = logspace(some_start, some_end, some_num);
	loglog(omega, abs(exp(-tiomega)-1));		loglog(omega, abs(exp(-tiomega)-1));
			</pre>

	I recommend doing help logspace and help loglog to understand what those functions do -- they're not too tricky.		<p>I recommend doing help logspace and help loglog to understand what those functions do -- they're not too tricky.</p>
	</blockquote>		</blockquote>

Gillula: /* Frequently Asked Questions */

2006-02-28T19:25:34Z

Frequently Asked Questions

← Older revision		Revision as of 19:25, 28 February 2006
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	== Frequently Asked Questions ==		== Frequently Asked Questions ==
			'''Q: Is there any way to bode plot (exp(-ts)-1) in MATLAB?'''
			<blockquote>
			You can't use the 'bode' command, since the exponential makes that expression not a polynomial transfer function. If all you're interested in is the magnitude though, (as in this week's homework set) you can plot that explicitly, as follows. (This should look familiar for those of you who took 110A, since we had you do a bode plot without using the bode command a long time ago.)

			omega = logspace(some_start, some_end, some_num);
			loglog(omega, abs(exp(-tiomega)-1));

			I recommend doing help logspace and help loglog to understand what those functions do -- they're not too tricky.
			</blockquote>

Murray at 00:30, 27 February 2006

2006-02-27T00:30:32Z

New page

{{cds110b-wi06}}
This lecture describes how to model uncertainty in <math>H_\infty</math> control and provides conditions for checking robust stability in this framework. __NOTOC__

== Lecture Outline ==
<ol type=I>
<li> Modeling uncertainty
<li> Robust stability
<li> Preview: robust performance
</ol>

== Lecture Materials ==
* {{cds110b-pdfs|L8-1_robstab.pdf|Lecture notes}} ({{cds110b-pdfs|L8-1_robstab.mp3|MP3}})
* Reading: DFT, Chapter 4
* {{cds110b-pdfs|hw7.pdf|HW #7}} (due 1 Mar)

== References and Further Reading ==

== Frequently Asked Questions ==

← Older revision		Revision as of 17:13, 2 March 2007
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	* {{cds110b-wi07 pdfs\|L9-1_robstab.pdf\|Lecture slides on robust stability}}		* {{cds110b-wi07 pdfs\|L9-1_robstab.pdf\|Lecture slides on robust stability}}
	* {{cds110b-wi07 pdfs\|L9-2_robstab.pdf\|Lecture notes on robust stability}}		* {{cds110b-wi07 pdfs\|L9-2_robstab.pdf\|Lecture notes on robust stability}}
			* [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/28Feb07.mp3 MP3] of Wednesday lecture, 28 Feb 2007
	* {{cds110b-wi07 pdfs\|hw8.pdf\|HW #8}} (due 9 Mar 07 [Fri])		* {{cds110b-wi07 pdfs\|hw8.pdf\|HW #8}} (due 9 Mar 07 [Fri])