Welcome to the course webpage of ECE7360 "Optimal and Robust Control " - Spring 2007 Offering.
Instructor: YangQuan Chen

  • Syllabus (Word )
    • Official (old) course description . (Notice: This course will be alternating with ECE/MAE 7750 “Distributed Control Systems” Spring 2008, 2011 and ECE/MAE 7350 “Intelligent Control Systems” Spring 2009, 2012. The next offering will be in Spring 2010, 2013. )
    • Erratum to the textbook . Please print a copy for your own use. ( PDF )
  • Lecture Notes (from Kemin Zhou 's web).
    • Week-1a, -1b: ( PDF ) Overview of "Optimal and Robust Control". Review of "linear algebra".
    • Week-2a: no lecture 
    • Week-2b: ( PDF ) Review of linear multivariable control theory. (Different types of Zeros PPT)
    • Week-3a: ( PDF ) H8 space and internal stability
    • Week-3b: ( PDF ) Performance specifications and limitations
    • Week-4a: ( PDF ) More on performance limitations. ( Part-1 , Part-2 , Part-3 ) (Waterbed-effect PPT)
    • Week-4b: ( PDF ) Balanced model reduction.
    • Week-5a: ( PDF ) Uncertainty and Robustness
    • Week-5b: (PDF ) LFT
    • Week-6a: (PDF ) SSV: mu
    • Week-6b: (PDF ) SSV: mu-synthesis
    • Week-7a: ( PDF ) Controller parameterization. ( SISO , MIMO )
    • Week-7b: (PDF ) LQR/KF/LQG
    • Week-8a: (PDF ) LTR/H2/ARE
    • Week-8b: (PDF ) H8 control and filtering
    • Week-9a: (PDF ) H8 control and filtering
    • Week-9b: (PDF ) H8 control and filtering (extra: H2/H8 )
    • Week-10: Spring Break
    • Week-11a: ( PDF ) Controller reduction 
    • Week-11b: (PDF ) H8 loop shaping 
    • Week-12a: (PDF ) H8 loop shaping 
    • Week-12b: (PDF ) H8 loop shaping 
    • Week-13a: (PDF ) Gap metric   
    • Week-13b: (PDF ) nu-gap metric
    • Week-14a: (PDF ) RIOTS - basic theory of calculus of variation and computational optimal control
    • Week-14b: (PDF ) RIOTS - tutorial, applications, and demos. (combined notes for IROS05 tutorial)
    • Week-15a: FISP Group-1
    • Week-15b: FISP Group-2
    • Week-16a: FISP Group-3
    • Week-16b: FISP Group-4
    • Week-17: Final (no class, no final exam, rushing for finishing all assignments and projects ... )
  • Homeworks
  • Projects (Please read Dr Kevin L. Moore 's PPT slides on "writing" )
    • Week-04: Project-1. Inverted Pendulum on a cart – revisited . (PDF ; DOC1 and DOC2-Appendix )
    • Week-06: Project-2. Space-shuttle robustness analysis (stability and performance) ( PDF , Word )
    • Week-10: Project-3. H-infinity control (performance) design of high-maneuvering airplane ( PDF , Word DOC )
    • Week-14: Project-4. Solving Optimal Control Problems Numerically (with RIOTS_95 ) (PDF , Word ) (Manual , Paper )
  • FISP Report/Presentation
    • Read the requirements.( PDF ) (DOC ) Note that the deadline for deciding your FISP topic is: March 12, 2007.
    • FISP schedule (final)
  • Weekly Reading Materials (Do read them although I do not check, i.e., it is "open-loop")
    • Week-1: 
    • Week-2: 
    • Week-3: 
    • Week-4: 
      • Limitations on Control.system Performance (K. J. Astrom )  
      • Repect the unstable (G. Stein) 
      • Jie Chen's two papers: " Multivariable gain-phase and sensitivity integral relations and design trade-offs " ( PDF ) and  "Logarithmic integrals, interpolation bounds, and performance limitations in MIMO feedback systems" ( PDF ). (Local copies is here and here )
      • Check also this "Using bicycles to teach limitations in control design" ( PDF slides ) - ( K. J. Astrom )
    • Week-5  [Read Week-3's slides again - ( K. J. Astrom ) (lecture slides )]
    • Week-6
    • Week-7
      • Modern Wiener--Hopf design of optimal controllers Part I : The single-input-output case . Youla, D.; Bongiorno, J., Jr.; Jabr, H.;  Automatic Control, IEEE Transactions on , Volume: 21 Issue: 1 , Feb 1976   Page(s): 3 -13 (Part-II : Jun 1976Page(s): 319 -338 )
      • http://www.cs.unc.edu/~welch/kalman/
    • Week-8
      • Doyle's two famous papers: (1978 ), (1979 ) and (1981 ) (all the papers in IEL by J. C. Doyle are collected here )
      • ARE matrix sign function (local PDF )
      • Improved temperature control of a PWR nuclear reactor using an LQG/LTR based controller . Arab-Alibeik, H.; Setayeshi, S.; Nuclear Science, IEEE Transactions on , Volume: 50 Issue: 1 , Feb. 2003 Page(s): 211 -218 [Abstract]    [PDF Full-Text (425 KB)]  
      • Loop transfer recovery for nonminimum phase plants. Zhang, Z.; Freudenberg, J.S.; Automatic Control, IEEE Transactions on , Volume: 35Issue: 5 , May 1990 Page(s): 547 -553 ( local copy )
    • Week-9
      • State-space solutions to standard H2 and H ∞ control problems . Doyle, J.C.; Glover, K.; Khargonekar, P.P.; Francis, B.A.;
        Automatic Control, IEEE Transactions on , Volume: 34 Issue: 8 , Aug. 1989   Page(s): 831 -847 (local copy )
      • Mixed H2 and H ∞ performance objectives. II. Optimal control Doyle, J.; Zhou, K.; Glover, K.; Bodenheimer, B.; Automatic Control, IEEE Transactions on , Volume: 39 Issue: 8 , Aug. 1994 Page(s): 1575 -1587 (local copy )
    • Week-10
      •  Robust, fragile, or optimal? Keel, L.H.; Bhattacharyya, S.P.;Automatic Control, IEEE Transactions on , Volume: 42 Issue: 8 , Aug. 1997 Page(s): 1098 -1105 (local copy )  
      • Comments on “Robust, fragile, or optimal? ” [and reply] Makila, P.M.; Keel, L.H.; Bhattacharyya, S.P.; Automatic Control, IEEE Transactions on , Volume: 43 Issue: 9 , Sept. 1998. (local copies: comments and reply ) Page(s): 1265-1268
    • Week-11
      • H8 Loop shaping. a classic paper ( PDF )  An H∞ design procedure using robust stabilization of normalized coprime factors McFarlane, D.; Glover, K.;Decision and Control, 1988., Proceedings of the 27th IEEE Conference on , 7-9 Dec. 1988 Page(s): 1343 -1348 vol.2
      •  A loop-shaping design procedure using H∞ synthesis  by McFarlane, D.; Glover, K.; Automatic Control, IEEE Transactions on , Volume: 37 Issue: 6 , June 1992 Page(s): 759 -769 (PDF)
      • Matlab Loopshaping Toolbox at Matlabcentral . (LSDPTool homepage , PPT ) (local copy, zip pps )
    • Week-12
      • Optimal robustness in the gap metric Georgiou, T.T.; Smith, M.C.; Automatic Control, IEEE Transactions on , Volume: 35 Issue: 6 , June 1990 Page(s): 673 -686 (PDF )
      • Upper and lower bounds for approximation in the gap metric Georgiou, T.T.; Smith, M.C.; Automatic Control, IEEE  Transactions on , Volume: 38Issue: 6 , June 1993Page(s): 946 -951 (PDF )
      • Frequency domain uncertainty and the graph topology Vinnicombe, G.; Automatic Control, IEEE Transactions on, Volume: 38 Issue: 9 , Sept. 1993 Page(s): 1371 -1383 (PDF )
    • Week-13-14
    • Week-15: FISP (Focused Independent Study and Presentation), check http://www.ieeexplore.ieee.org
    • Week-16: FISP (Focused Independent Study and Presentation)

Created on August 25, 2003 by Dr YangQuan Chen. Comments via email are welcome. Last updated: 1/17/2007 (-4240).

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