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Part 1 H-infinity
1.    H-infinity norm   
2.    Multi-variable systems SV frequency response 
3.    Multi-Variable Feedback Systems –  
           a.    Closed Loop Transfer functions and internal stability 
b.    Nominal performance 
4.    Unstructured uncertainty (i.e. additive, multiplicative, inverse multiplicative, coprime) 
5.    Linear Fractional Transformations 
6.    Small-gain theorem 
7.    Frequency weighting  
8.    Robust Stability analysis for unstructured uncertainty 
9.    Robust Performance  
10.    Coprime Factorization and Principles of Youla Parametrization  
11.    Solving the H-infinity problem via Coprime Factorization  
12.    H-infinity control systems design case studies 
a.    Mixed sensitivity H-infinity design  
b.    H-infinity loop shaping control 

Part 2 Linear Matrix Inequalities (LMIs)  
13.    Function spaces  
14.    Linear Matrix Inequalities (LMIs) and convex optimisation 
15.    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 systems 
18.    S-procedure  
19.    Lur’e Systems 
20.    Integral Quadratic Constraint Analysis 
21.    Analysis and design Examples 

Part 3 Laboratory and Assignment 30%  
Part 3.1 Mixed-sensitivity design for a Quanser system 
Part 3.2 Robust Control Design with input / output constraints, e.g. anti-windup
 

Students taking EEEN40262 in semester 2 must study EEEN40221 Linear Systems Theory in semester 1.

The unit aims to:

Introduce students to the fundamentals of robustness analysis, robust control law synthesis and robust control design
 

On the successful completion of the course, students will be able to: 

 
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. 

Coursework - 30%

Unseen written examination - 70%

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1 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
 

3 Multivariable feedback design Maciejowski, J. M. Addison-Wesley, 1989 
 

4 Essentials of robust control Zhou, Kemin. Prentice Hall 1998
 

5 Robust and optimal control Zhou, Kemin. Prentice Hall 1996
 

6 Control theory and design : an RHâ‚‚ and RH [infinity] viewpoint Colaneri, Patrizio. Academic Press, 1997
 

7 Linear robust control Green, Michael. Prentice Hall 1995