Difference between revisions of "CDS 110b: Robust Performance"
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{{cds110b-wi08}} | {{cds110b-wi08 lecture|prev=Sensor Fusion|next=Main Page}} | ||
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__ | 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__ | ||
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===== Monday ===== | |||
<ol type="A"> | |||
<li>Unmodeled dynamics</li> | |||
<li>Stability and the small gain theorem</li> | |||
<li>Examples: observer-based control design</li> | |||
</ol> | |||
| | |||
===== Wednesday ===== | |||
<ol type="A"> | |||
<li>Robust performance</li> | |||
<li>Design for robust performance</li> | |||
<li>H infinity control design</li> | |||
</ol> | |||
|} | |||
<p> | |||
* {{cds110b-wi08 pdfs|L9-1_robstab.pdf|Lecture notes on robust stability}} | |||
* {{cds110b-wi08 pdfs|L9-2_robperf.pdf|Lecture notes on robust performance}} | |||
* {{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 == | ||
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
|
Wednesday
|
References and Further Reading
- K. J. Åström and R. M. Murray, Feedback Systems: An Introduction for Scientists and Engineers, Princeton University Press, 2008. Chapter 12 - Robust Performance.
- Guaranteed margins for LQG regulators, J. Doyle
