(c) Sampled-data Systems. Constant sampling time.

Variable sampling time

(d) Time delay Systems

240AR058

(e) Approximating Nonlinear Systems by a set of

linear systems.

Robust Control

Course: 2015-16

4. State Feedback. Stabilization. Pole Placement. Generalized pole placement. Observer Design. Gain
Scheduling problem formulation. [1; Chap. 7,9] [2,
Chap. 7]

Fall Semester

COORDINATOR:

Ramon Costa Castell

o [RCC]

PROFESSORS:

Vicenc Puig Cayuela [VPC]

5. Passivity, Dissipativity and positive realness. Definition. Related conditions. Antiwindup design [1;
Chap. 5, 6] [2; Chap. 6]

LEARNING OBJECTIVES
The objective of this course is to introduce the students in modern techniques of feedback control.

6. H2 Analysis and design. Definition. LFT Formalism

review. Connection to LQ and LQG problem. LMI
formulation [1; Chap. 5; 8]

The course will introduce students to the LMI techniques to control systems analysis and design.

7. H Analysis and design. Robustness Analysis. [1;

Chap. 5, 8]

8. Advanced topics and case studies

METODOLOGY
(a) Multiple Objective Design [1; Chap.10]
The teaching methodology will combine lectures together with supervised learning based on problems, practical
(b) Generalized KYP lemma
work and autonomous learning. The classes will be organi(c) Reset Control [4]
zed in theoretical sessions and problems/practices sessions
(d) Practical examples
in the computer room and the laboratory. The lecturer,
promoting the active participation of students, will focus
the master classes in the explanation of theoretical con- BIBLIOGRAPHY
cepts.
SYLLABUS

Basic:

1. Introduction to LMIs. LMI concepts. LMIs history.

Main problems addressed through LMIs. [1; Chap.1,
2, 3] [2; Chap. 1,2,3]

1. Duan, Guang-Ren; Yu, Hai-Hua. LMIs in control

systems : Analysis, design and applications. Boca
Raton: CRC Press : Taylor & Francis, cop. 2013.
ISBN 9781466582996.

2. Solving LMIs. Introduction to Numerical methods to

solve LMIs. MATLAB LMI Lab. YALMIP.

2. Boyd, Stephen. Linear Matrix Inequalities in System and Control Theory. Philadelphia: SIAM, 1994.
Available online

3. Stability Analysis [1; Chap.4][2; Chap. 4,5]

(a) Continuous Time Systems. Linear Time Invariant System Stability Analysis. Stability Analysis of Hybrid Systems composed by a set of Linear Time Invariant System. Linear Parameter
Varying Systems Stability Analysis.
(b) Discrete Time Systems. Linear Time Invariant
System Stability Analysis. Stability Analysis of
Hybrid Systems composed by a set of Linear Time Invariant System. Linear Parameter Varying
Systems Stability Analysis.

3. Sanchez-Pe
na, Ricardo S.; Sznaier, Mario. Robust
Systems. Theory and Applications. Wiley Interscience, 1998. ISBN 0471176273.
4. Ba
nos, Alfonso; Barreiro, Antonio. Reset Control
Systems. Springer. 2012. ISBN:978-1-4471-2250-0

Complementary:

SESSIONS

Skogestad, Sigurd ; Ian Postlethwaite. Multivariable

Feedback Control. 2nd ed. New York: Wiley, 2005.
ISBN 9780470011683.

Session
T1
T2
T3
AI1
T4
AI2
T5
AI3
T6
T7
AI4
EXP
T8

El Ghaoui, Laurent ; Niculescu, Silviu-Iulian. Advances in Linear Matrix Inequality Methods in Control.
Philadelphia: SIAM, 1987. ISBN 9780898714388.
Carsten Scherer; Siep Weiland. Linear Matrix Inequalities in Control. Delft University of Technology
(2004). Available online
QUALIFICATION
A long the course four exercises will be proposed. All students must submit the resolution of these exercises before
31/12/2016. The course grade will correspond to the average score of these exercises.

Contents
1,2
3a,3b
3c,3d,3e
3a,3b
4
4
5 ,6
5 ,6
7
8a,8b
7
experimental
8c,8d

Professor
RCC
RCC
RCC
RCC
RCC
VPC
VPC
VPC
VPC
VPC
VPC
RCC
VPC

CALENDAR
Those exercises which are not submitted by the deadline
will be qualified with a mark of 0.
Reassessment
According to ETSEIB regulation, those students which do
not pass the course on January will have the possibility on
July to be evaluated again. For this evaluation an exercise
will be proposed; the students will be given a week to solve
it. The course mark will be obtained based on the mark
of this work.

Theoretical classes will take place in room ETSEIB-B.5,

computer classes will take place in 8.1.- Aula Inform`atica
Linux. All sessions will be given from 17:00 to 20:00.