TU Delft
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2017/2018 Mechanical, Maritime and Materials Engineering Master Systems and Control
Robust and Multivariable Control Design
Responsible Instructor
Name E-mail
Dr.ir. J.W. van Wingerden    J.W.vanWingerden@tudelft.nl
Contact Hours / Week x/x/x/x
Education Period
Start Education
Exam Period
Course Language
Course Contents
Recap on background in linear systems theory and classical feedback control
Multivariable system control: Nyquist, interaction, decoupling
Directionality in multiloop control, gain and interaction measure
Stabilizing controllers and the concept of the generalized plant
Parametric uncertainty descriptions, approximations
The general framework of robust control
Robust stability analysis
Nominal and robust performance analysis
The H-infinity control problem
The structured singular value: Definition of mu
Mu synthesis, DK-iteration, role of uncertainty structure.
Design of robust controllers, choice of performance criterion and weights
Study Goals
The student is able to reproduce theory and apply computational tools for robust controller analysis and synthesis.

More specifically, the student must be able to:
1. substantiate relation between frequency-domain and state-space description of dynamical systems
2. define stability and performance for multivariable linear time-invariant systems
3. construct generalized plant for complex system interconnections
4. describe parametric and dynamic uncertainties
5. translate concrete controller synthesis problem into abstract framework of robust control
6. reproduce definition of the structured singular value
7. master application of structure singular value for robust stability and performance analysis
8. design robust controllers on the basis of the H-infinity control algorithm
9. apply controller-scalings iteration for robust controller synthesis

Education Method
Lectures + Assisted lectures+Computer sessions
S. Skogestad, I. Postlethwaite, Multivariable Feedback Control, 2nd Edition. John Wiley & Sons, 2005.

References from literature:
K. Zhou, J.C. Doyle, K. Glover, Robust and optimal control, Prentice Hall, 1996
D.-W. Gu, P.Hr. Petkov, M.M. Konstantinov, Robust Control Design with Matlab. Springer Verlag, London, UK, 2005
Written exercise and written examination
Old course code: SC4015
3mE Department Delft Center for Systems and Control