ROBUST CONTROL
Academic Year 2025/2026 - Teacher: Arturo BUSCARINOExpected Learning Outcomes
Knowledge and Understanding
Optimal control techniques for linear systems. Robust techniques for the design and implementation of compensators for linear systems. Linear Matrix Inequalities for robust control. The course includes both experimental and MATLAB projects.
Applied Knowledge and Understanding
Use of hardware/software tools for the design and implementation of robust control systems. Proficiency in using microcontrollers.
Making Judgments
The student will be able to determine the most appropriate robust control technique based on the system under consideration.
Communication Skills
The student will be able to describe the costs and benefits of the various robust control techniques studied. The student will be able to describe the basic properties of positive-real and bounded-real systems.
Learning Skills
The student will be able to locate books and scientific publications that explore and specialize in the control techniques discussed.
Course Structure
The course will consist in frontal lectures and laboratory activities.
Required Prerequisites
Attendance of Lessons
Detailed Course Content
Models with uncertainty. Lyapunov stability. Singular value decomposition. Balanced realizations. Reduced-order models. LQR optimal control. Balanced closed-loop realizations. Coprime factorizations. Class of stabilizing compensators. Passive and bounded-real systems. H-infinity control. Multiobjective control. LMI (Linear Matrix Inequalities) for optimal and robust control. Simultaneous Stabilizability.
Textbook Information
L. Fortuna, M.Frasca, A. Buscarino, Optimal and Robust Control- Advanced Topics with Matlab, CRC Press, 2nd edition, 2021.
Course Planning
| Subjects | Text References | |
|---|---|---|
| 1 | Linear Regulator | L. Fortuna, M.Frasca, A. Buscarino, Optimal and Robust Control- Advanced Topics with Matlab, CRC Press, 2nd edition, 2021. |
| 2 | Linear Observer | L. Fortuna, M.Frasca, A. Buscarino, Optimal and Robust Control- Advanced Topics with Matlab, CRC Press, 2nd edition, 2021. |
| 3 | Optimal Control | L. Fortuna, M.Frasca, A. Buscarino, Optimal and Robust Control- Advanced Topics with Matlab, CRC Press, 2nd edition, 2021. |
| 4 | Balanced Realizations | L. Fortuna, M.Frasca, A. Buscarino, Optimal and Robust Control- Advanced Topics with Matlab, CRC Press, 2nd edition, 2021. |
| 5 | Model order reduction | L. Fortuna, M.Frasca, A. Buscarino, Optimal and Robust Control- Advanced Topics with Matlab, CRC Press, 2nd edition, 2021. |
| 6 | Positive Real and Bounded Real Lemmas | L. Fortuna, M.Frasca, A. Buscarino, Optimal and Robust Control- Advanced Topics with Matlab, CRC Press, 2nd edition, 2021. |
| 7 | H-infinity and Multi-objective Control | L. Fortuna, M.Frasca, A. Buscarino, Optimal and Robust Control- Advanced Topics with Matlab, CRC Press, 2nd edition, 2021. |
| 8 | Class of stabilizing compensators | L. Fortuna, M.Frasca, A. Buscarino, Optimal and Robust Control- Advanced Topics with Matlab, CRC Press, 2nd edition, 2021. |
| 9 | Linear Matrix Inequalities | L. Fortuna, M.Frasca, A. Buscarino, Optimal and Robust Control- Advanced Topics with Matlab, CRC Press, 2nd edition, 2021. |
Learning Assessment
Learning Assessment Procedures
Examples of frequently asked questions and / or exercises
1) Find the family of stabilizing controllers for the given system;
2) Positive real lemma and closed loop stability.
3) Model order reduction based on balanced realizations.