Robust Control

· 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

Controller design exercise (report and code)