ME 234: Multivariable Control Systems
Fall 2006
Mon/Wed 12:30-2:00, 1165 Etcheverry
UPDATE: Office hours for Dec 11-Dec 15
Tuesday, 10-11
See the computer exercises below (they are below the Homeworks). These are very important. Please do them, and answer the questions as you work through the examples.
Reading Assignments
Chapter 7, all. Should match up well with the SISO robust performance.
Chapter 8, sections 8.1-8.11. Robust stability and performance as a nonvnishing determinant condition, and then how to enforce/verify the nonvanishing det.
Homework Assignments
MIMO State Space Stabilization.
SISO, Transfer function Youla.
Limitations in feedback systems.
Structured Singular Value. Do problems 2, 3, 8, 9, 10, 14 and 15. Reread problem 1 before doing problem 14.
Lyapunov/Riccati. Do problems 1, 2, 3, 4, 6, 9, 10.
Hinf Inequality Analysis. Do problem 3.
Computer Exercises
Introduction to structured singular value.
Introduction to robustness analysis.
Introduction to HinfSyn. You will need the m-file script himatModel.m. It has the aircraft model and weighting functions for the example.
example0.m, elementary McFarlane/Glover Loopshaping example.
example1.m, SISO McFarlane/Glover Loopshaping example for 2-mass resonant system; supporting functions, pistage.m, lagstage.m.
illconditionedplant.m, DK iteration for 2-by-2 ill-conditioned plant.
Faculty: Andy Packard
Look at top of page for daily modifications.
Teaching Assistant: TBD
Course Notes, Slides, Diary Files, Code
Linear Algebra Review.
Respect the Unstable, by Gunter Stein, Please read this.
Rings, and matrices with elements in rings
SISO, Transfer function, Youla
MIMO, Transfer function, Youla
Robustness analysis as nonvanishing determinant
Upper Bound for nonvanishing determinant
Survey paper on complex structured singular value
Continuity of mu (supplemental paper)
Control Objectives as Generalized Disturbance Rejection
Algebraic Lyapunov and Riccati Equations