SRDC: Lectures on Robust Control

Winter  2008

Contact: Roberto Cristi, Professor, Dept of ECE, Naval Postgraduate School, rcristi@nps.edu

Textbook: K. Zhou, J.C. Doyle, Essentials of Robust Control,  Prentice Hall, 1998.

Note: To view the recorded lectures you need to download the free plug-in Real Media Player from http://www.real.com/

• Lecture 1: Introduction and Preliminaries (Chapter 2)
• Norms
• Induced Norms
• Some Bounds on Norms
• Singular Value Decomposition
• Hermitian Matrices

• Lecture 2: Multi Input Multi Output (MIMO) Systems (Chapter 3)
• System Representation
• Controllers and Observers
• Poles and Zeros of MIMO Systems

• Lecture 3: H_2 and H_infinity Spaces (Chapter 4)
• Inner Products
• L2 and H2 Spaces
• Induced L2 Norms
• Computation of L2 Norms of Transfer Matrices
• Computation of L_infinity Norms of Transfer Matrices

• Lecture 6: Model Reduction by Balanced Realization (Chapter 7)
• Introduction
• Gramians
• Uncontrollable Systems
• Joint Controllability and Observability Gramians
• Balanced Realization

• Lecture 7: Model Uncertainties (Chapter 8)
• Small Gain Theorem
• SISO Example
• MIMO General Case