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

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{{cds110b-wi06}}
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{{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__
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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 ==
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== Course Materials ==
<ol type=I>
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* {{cds110b-wi07 pdfs|L9-1_robstab.pdf|Lecture slides on robust stability}}
<li> Modeling uncertainty
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* {{cds110b-wi07 pdfs|L9-2_robstab.pdf|Lecture notes on robust stability}}
<li> Robust stability
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* [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/28Feb07.mp3 MP3] of Wednesday lecture, 28 Feb 2007
<li> Preview: robust performance
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* [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/2Mar07.mp3 MP3] of Friday lecture, 2 March 2007
</ol>
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* {{cds110b-wi07 pdfs|hw8.pdf|HW #8}} (due 9 Mar 07 [Fri])
 
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* [[:media:Guaranteed_margins_for_LQG_regulators_-_doyle.pdf| Guaranteed margins for LQG regulators, J. Doyle ]]
== 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 ==
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* 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>
 
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(-t*i*omega)-1));
 
 
I recommend doing help logspace and help loglog to understand what those functions do -- they're not too tricky.
 
</blockquote>
 

Latest revision as of 00:26, 6 March 2007

WARNING: This page is for a previous year.
See current course homepage to find most recent page available.
CDS 110b Schedule Project FAQ Reading

This set of lecture describes how to model uncertainty in \(H_\infty\) control and provides conditions for checking robust stability in this framework.

Course Materials

References and Further Reading

  • AM06, Sections 9.5, 12.1 and 12.2

Frequently Asked Questions