Difference between revisions of "CDS 110b: Robust Performance"

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{{cds110b-wi06}}
{{cds110b-wi08 lecture|prev=Sensor Fusion|next=Main Page}}
This lecture describes ???. __NOTOC__
This set of lectures reviews modeling of uncertainty and the use of frequency domain techniques for verifying robust stability and performance of control systems.  We begin by exploring how observer-based control systems can lead to non-robust behavior in the closed loop and then discuss how to modify the designs to achieve robust performance. __NOTOC__


== Lecture Outline ==
{| border=1 width=100%
<ol type=I>
|- valign=top
<li> ???
| width=50% |
===== Monday =====
<ol type="A">
<li>Unmodeled dynamics</li>
<li>Stability and the small gain theorem</li>
<li>Examples: observer-based control design</li>
</ol>
</ol>
|
===== Wednesday =====
<ol type="A">
<li>Robust performance</li>
<li>Design for robust performance</li>
<li>H infinity control design</li>
</ol>
|}


== Lecture Materials ==
<p>
* Lecture Notes??? (MP3???)
* {{cds110b-wi08 pdfs|L9-1_robstab.pdf|Lecture notes on robust stability}}
* Reading: ???
* {{cds110b-wi08 pdfs|L9-2_robperf.pdf|Lecture notes on robust performance}}
* {{cds110b-pdfs|hw8.pdf|HW #8}} (due 8 Mar)
* {{cds110b-wi08 pdfs|hw8.pdf|HW #8}} (due 14 Mar 08)
 
</p>
== References and Further Reading ==
== References and Further Reading ==
* {{AM08|Chapter 12 - Robust Performance}}
* [[:media:Guaranteed_margins_for_LQG_regulators_-_doyle.pdf| Guaranteed margins for LQG regulators, J. Doyle ]]


== Frequently Asked Questions ==
== Frequently Asked Questions ==
'''Q: Is problem 3 impossible?'''
<blockquote>
<p>It might be -- we're not sure.  As a general recommendation, if you think a problem is impossible, explain why you think it is impossible, and then relax the specifications and try to solve it again.  As long as you don't make it trivial, you'll likely get a decent amount of partial credit.</p>
</blockquote>

Latest revision as of 14:51, 8 March 2008

CDS 110b Schedule Project Course Text

This set of lectures reviews modeling of uncertainty and the use of frequency domain techniques for verifying robust stability and performance of control systems. We begin by exploring how observer-based control systems can lead to non-robust behavior in the closed loop and then discuss how to modify the designs to achieve robust performance.

Monday
  1. Unmodeled dynamics
  2. Stability and the small gain theorem
  3. Examples: observer-based control design
Wednesday
  1. Robust performance
  2. Design for robust performance
  3. H infinity control design

References and Further Reading

Frequently Asked Questions