Robust Control and Convex Optimisation

EEEN60262 Robust Control and Convex Optimisation 15 Semester 2 Postgraduate Taught Level 6 Lanlan Su Unit coordinator Guido Herrmann Unit coordinator Department of Electrical & Electronic Engineering 1 FHEQ level (Framework for Higher Education Qualifications) ' Masters/Integrated Masters P4 ' European Credit Transfer & Accumulation System Rating : 7.5 To introduce students to the fundamentals of robustness analysis, robust control law synthesis and robust control design     Brief description of the unit:Part 1 H-infinity1. H-infinity norm2. Multi-variable systems SV frequency response3. Multi-Variable Feedback Systems –a. Closed Loop Transfer functions and internal stabilityb. Nominal performance4. Unstructured uncertainty (i.e. additive, multiplicative, inverse multiplicative, coprime)5. Linear Fractional Transformations6. Small-gain theorem7. Frequency weighting8. Robust Stability analysis for unstructured uncertainty9. Robust Performance10. Coprime Factorization and Principles of Youla Parametrization11. Solving the H-infinity problem via Coprime Factorization12. H-infinity control systems design case studiesa. Mixed sensitivity H-infinity designb. H-infinity loop shaping control Part 2 Linear Matrix Inequalities (LMIs)13. Function spaces14. Linear Matrix Inequalities (LMIs) and convex optimisation15. Robust H-infinity controller synthesis (from ARE to LMIs)16. Kalman-Yakubovic-Popov lemma (to convert frequency dependent parahermitian matrix functions to LMIs)17. Dissipative dynamical systems18. S-procedure19. Lur’e Systems20. Integral Quadratic Constraint Analysis21. Analysis and design Examples Part 3 Laboratory and Assignment 30%Part 3.1 Mixed-sensitivity design for a Quanser systemPart 3.2 Robust Control Design with input / output constraints, e.g. anti-windup Brief description of the unit:Part 1 H-infinity1. H-infinity norm2. Multi-variable systems SV frequency response3. Multi-Variable Feedback Systems –a. Closed Loop Transfer functions and internal stabilityb. Nominal performance4. Unstructured uncertainty (i.e. additive, multiplicative, inverse multiplicative, coprime)5. Linear Fractional Transformations6. Small-gain theorem7. Frequency weighting8. Robust Stability analysis for unstructured uncertainty9. Robust Performance10. Coprime Factorization and Principles of Youla Parametrization11. Solving the H-infinity problem via Coprime Factorization12. H-infinity control systems design case studiesa. Mixed sensitivity H-infinity designb. H-infinity loop shaping control Part 2 Linear Matrix Inequalities (LMIs)13. Function spaces14. Linear Matrix Inequalities (LMIs) and convex optimisation15. Robust H-infinity controller synthesis (from ARE to LMIs)16. Kalman-Yakubovic-Popov lemma (to convert frequency dependent parahermitian matrix functions to LMIs)17. Dissipative dynamical systems18. S-procedure19. Lur’e Systems20. Integral Quadratic Constraint Analysis21. Analysis and design Examples Part 3 Laboratory and Assignment 30%Part 3.1 Mixed-sensitivity design for a Quanser systemPart 3.2 Robust Control Design with input / output constraints, e.g. anti-windup To introduce students to the fundamentals of robustness analysis, robust control law synthesis and robust control design ILO 1 Analyse robustness of systems ILO 2 Explain how robust controllers are synthesised ILO 3 Design controllers using robust control theory ILO 4 Develop skills useful in controlling systems when accurate mathematical models are unavailable ILO 5 Apply robust control methods to systems from a variety of technological areas ILO 6 Apply design methods that can be used in developing controllers for practical systems in different applications  Theoretical knowledge is delivered over lectures and demonstrated over tutorial. 0 Other 30% 1 Written exam 70% Unseen written examination - 3 hours - weighted at 70%Coursework - 6 hours weighted at 30% Examination feedback is provided after the examination results have been releasedCoursework feedback provided 3 weeks after submission N Design of feedback control systems. Stefani, Raymond T. Oxford University Press, 2002 2 Modern Control Engineering Ogata, K ; Brewer, J. W Journal of dynamic systems, measurement, and control, 1971  Multivariable feedback design Maciejowski, J. M. Addison-Wesley, 1989 Essentials of robust control Zhou, Kemin. Prentice Hall 1998 Robust and optimal control Zhou, Kemin. Prentice Hall 1996 Control theory and design : an RH₂ and RH [infinity] viewpoint Colaneri, Patrizio. Academic Press, 1997 Linear robust control Green, Michael. Prentice Hall 1995 Lectures 30 Practical classes & workshops 8 Tutorials 3 0 109