Optimal and Robust Control

Assigned (compulsory) reading

What we did not cover in the lecture is the topic of structured uncertainties and their analysis using structured singular value (SSV, \(\mu\)). Read about it in the rest of Chapter 8 in Skogestad (or, at least in 8.6 through 8.11, that is, you can skip the synthesis part now). 

[1] S. Skogestad, I. Postlethwaite. Multivariable feedback control: analysis and design. 2nd edition, Wiley, 2005.

Recommended (not compulsory) further reading

The concepts and techniques introduced In this lecture are covered in Chapters 7 and 8 (up to 8.5) from Skogestad. If the lecture was not enough, make sure you fully grasp the material by go through these sections in the book.

The topic of modeling uncertainty in frequency domain using weighting filters plugged into additive or multiplicative structures is fairly classical now and as such can be found in numerous textbooks on robust control such as [2], [3] or [4] (there also appear some newer monographs with which I am not familiar). My personal objection against most such treatments is that they do not really give nearly any guidance about how to actually apply the concepts. In this regard, Skogestad's book [1] is truly unique.

[2] K. Zhou, J. C. Doyle, K. Glover. Robust and Optimal Control. Pearson, 1995.

[3] G. E. Dullerud, F. Paganini. A Course in Robust Control Theory: A Convex Approach. Springer, 2005.

[4] R. S. Sánchez-Peña, M. Sznaier. Robust Systems Theory and Applications. Wiley-Interscience, 1998.