ME 234: Multivariable Control Systems
UC Berkeley, Mechanical Engineering
Andy Packard
Notes
State-space Youla, cleanest derivation available
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
Intro to H-inf optimal control
Algebraic Lyapunov and Riccati Equations
Hinf State-Feedback and Full-Information
Output-Feedback Hinf synthesis, LMI version
Various Problem Sets
SISO, Transfer function Youla.
Limitations in feedback systems.
Structured Singular Value. Reread problem 1 before doing problem 14.
Various 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.