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EE654 Spring2021 Course Org

This document outlines the course objectives, content, schedule, and policies for EE 654A Robust Control Systems. The key points are: - The course aims to develop the ability to design robust SISO and MIMO control systems and use MATLAB's Robust Control Toolbox. - Topics covered include loop shaping, uncertainty representations, robust stability/performance conditions, and H-infinity control design. - The course will primarily focus on frequency domain concepts using the textbook "Multivariable Feedback Control." - Evaluation will be through continuous quizzes instead of exams. Quizzes will cover recent lecture content.

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Someshwar Lakavath
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103 views

EE654 Spring2021 Course Org

This document outlines the course objectives, content, schedule, and policies for EE 654A Robust Control Systems. The key points are: - The course aims to develop the ability to design robust SISO and MIMO control systems and use MATLAB's Robust Control Toolbox. - Topics covered include loop shaping, uncertainty representations, robust stability/performance conditions, and H-infinity control design. - The course will primarily focus on frequency domain concepts using the textbook "Multivariable Feedback Control." - Evaluation will be through continuous quizzes instead of exams. Quizzes will cover recent lecture content.

Uploaded by

Someshwar Lakavath
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Department of Electrical Engineering IIT Kanpur

L - T - P - D - [C]
EE 654A ROBUST CONTROL SYSTEMS 3 - 0 - 0 - 0 - [9]

January 13, 2021

Course Objectives (a) Comfort with loop-shaping for


minimum-phase and non-minimum-
To develop the ability to design and analyze SISO phase SISO transfer functions.
and MIMO control systems for robustness, and to (b) Ability to use H∞ norms to formu-
use Matlab’s Robust Control Toolbox. late frequency-domain problems to shape
closed-loop transfer functions.
2. Uncertainty representation.
Course Content (a) Comfort with various kinds of uncer-
tainty representations: additive, multi-
Robustness is the ability of a control system to plicative, inverse multiplicative, coprime
maintain stability and perform acceptably in the factor, parametric, non-parametric, struc-
presence of plant parameter variations and ex- tured, unstructured.
ternal disturbances. Classical control theory had (b) Ability to express in the frequency do-
precisely these goals, and was therefore an early main nonlinearities, neglected dynamics,
version of robust control theory. higher-order dynamics as nominal plus
There is one point, however, that distinguishes uncertain models.
robust control theory (RCT), as it is understood 3. Comfort with robust stability and robust per-
today, from classical control theory. In RCT un- formance conditions for SISO systems.
certainties in plant parameters and the set of ad- MIMO systems
missible disturbances are quantified, whereas in
classical control theory, they are not. 1. Ability to write transfer functions for MIMO
block diagrams.
From the late 1970s to the early 1990s, hundreds 2. Ability to discuss directions, eigenvalues, sin-
of control systems researchers across the world gular values, and right-half plane zeros of
worked to develop a frequency-domain control MIMO transfer functions.
theory for MIMO systems. Their hope was to 3. Ability to draw the upper and lower linear
extend the classical concepts of GM and PM to fractional transformations for MIMO block di-
MIMO systems. However, instead of GM- and agrams.
PM-based solutions, the most influential results 4. Familiarity with internal stability, Youla pa-
in RCT use singular value decomposition. rameterization, and MIMO Nyquist stability
Further, the RCT researchers showed that the criteria.
most famous state-space controller of that time, 5. Familiarity with structured singular value,
the Linear Quadratic Gaussian (LQG) controller, and with the conditions for robust stability,
did not have any guaranteed GM or PM, and and for robust performance.
set themselves the goal of finding alternatives to 6. Understanding of the trade-offs in MIMO
state-space theory, including LQG. However, the feedback design.
most influential robust controllers that emerged 7. Familiarity with LQG control and loop-
ended up using state-space theory as the back- transfer recovery.
end, with the frequency domain as the front end. 8. Familiarity with H∞ loop-shaping design, H∞
optimal control, H∞ mixed-sensitivity control.
In this course, we will primarily work with the
front end, and visit the backend a bit.
Instructor & Teaching Assistant
Special Emphasis • Dr. Ramprasad Potluri potluri@iitk.ac.in
• Chintu Gurbani cgurbani@iitk.ac.in
SISO systems Chintu will teach the Matlab part of the course
using Zoom.
1. SISO open- and closed- loop-shaping. Meeting time with Chintu: Sat 1700 – 1900

1
Course meeting A student’s letter grade is based on the best 90%
of his or her quizzes.
When & Where: MW 17:15 – 18:30 Zoom.
Course Web page: HelloIITK. Time slots for the quizzes: Tue Fri 1900 – 2000
Everything taught up to Mon appears on Tue.
Everything taught up to Wed appears on Fri.
Text book
The lectures will essentially guide you through Schedule for Discussion Hours
certain topics from the book
As per IITK timetable, we have a 1715 – 1830
S IGURD S KOGESTAD AND I AN P OSTLETHWAITE , slot every Monday and Wednesday. We can meet
Multivariable Feedback Control: Analysis and De- during both these slots to discuss the lecture
sign, 2 ND EDITION , J OHN W ILEY & S ONS , 2005. notes that are released the week before. I have
The publisher brought this book to India on my shared with you through e-mail on 2021/01/12
request to the authors about 5 years ago, but has a recurring Zoom meeting link for each of Mon-
since stopped the Indian edition of this book, days and Wednesdays.
maybe due to insufficient demand here. I will Sometimes, I will post video-recorded lectures on
share with the class copies of relevant pages from HelloIITK, and then we might not have the corre-
this book as we go. There is a draft version of this sponding Zoom meetings.
book on the internet, which is a poor substitute
for this book, but can be used. The discussion hours have a mix of
We will mainly work through chapters 2, 3, 7, 8, • Teacher to student information transfer, which
9 in the sequence 2 → 7 → 3 → 8 → 9. is like the conventional lecture, and
• Student to teacher information transfer, which
The minimum background required of the stu- is like a flipped classroom, wherein you come
dent for this course is EE250. prepared to teach me. I will assign you a week
ahead topics for self-study from the textbook.
Plan of Release of Online Lectures
Attendance Policy
I shall place the lecture notes on HelloIITK
roughly a week ahead of the week in which they Attendance in the discussion hour is strongly ad-
are to be discussed. vised, though not enforced.

Evaluation/Assessment Policy Academic honesty


There will not be mid-semester and end-semester Through the course, you are welcome to discuss
exams. There will only be continuous evalua- all assignments with your classmates, friends,
tion through quizzes. We will have as many me, etc. However, you may not copy or help in
pop quizzes per week as possible beginning the copying on the tests.
week of 2021/01/18. All quizzes have equal
weight, except maybe those on the day of the end Copying or helping in copying of the tests and
semester exam. exams can result in a fail grade on this course.

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