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Advanced Topics in Control: Robust Control & Convex Optimization

Spring 2012

Course

Lecturers: Roy Smith and Paul Goulart

Lecture location and schedule:

    Lecture Tuesdays 16:15 to 18:00 CAB G 61
    Exercises Fridays 10:15 to 12:00 ETZ D 61.1

Assistants:

    Name Location Telephone number e-mail
    Tyler Summers ETL I 34 044 632 2326 tsummers@control.ee.ethz.ch
    Nikolaos Kariotoglou ETL K 11 044 632 0542 karioto@control.ee.ethz.ch
    Joe Warrington ETL K 22.2 044 632 4006 warrington@control.ee.ethz.ch
Prerequisites:
    Control systems (227-0216-00L), Linear system theory (227-0225-00L), or equivalents, as well as sufficient mathematical maturity.
Content:
    An optimization based approach to robust control theory and applications. Topics will include: H-infinity and H-2 control design; structured-singular value analysis and synthesis; model reduction; convex optimization; semi-definite programming; and interior point methods.
Grading:
    The majority of the course grade will depend on a written project report. Details of the project will be made available during the course. The idea is that students will choose a robust control design and analysis application; design robust controllers; assess their performance; simulate their behaviour; and write up the results. The relative weighting of the course components in the assessment of the final grade will be:
    Exercises 30 %
    Final project 70 %

Lecture Materials

    Number Date Topic Lecturer Downloads
    1 21/02/2012 Introduction and overview Roy Smith Lecture 1 slides
    2 28/02/2012 SISO robustness analysis Roy Smith Lecture 2 slides
    3 6/03/2012 MIMO robustness analysis Roy Smith Lecture 3 slides
    4 13/03/2012 Convex Optimization Paul Goulart Lecture 4 slides
    5 20/03/2012 Duality and KKT Conditions Paul Goulart Lecture 5 slides
    5 (extra) 27/03/2012 Lecture replaced by Convex Optimization seminar Stephen Boyd
    6 3/04/2012 Performance and stability tests Roy Smith Lecture 6 slides
    7 17/04/2012 Structured singular value results: robustness analyses Roy Smith Lecture 7 slides
    8 24/04/2012 H-infinity design via convex optimization Roy Smith Lecture 8 slides
    9 7/05/2012 Robust performance, mu-synthesis and D-K iteration Roy Smith Lecture 9 slides
    10 15/05/2012 H-2 design via convex optimization Paul Goulart Lecture 10 slides
    11 22/05/2012 IQCs and Multiobjective Design Paul Goulart Lecture 11 slides
    12 29/05/2012 Model Reduction Paul Goulart Lecture 12 slides

    Most of the lectures have been recorded and are available in a podcast format. These can be downloaded or viewed online here.

Exercises

    Exercises will be distributed each week in the exercise session, and made available here for download. The assistants will present background material for the exercise in the exercise session and be available to answer questions.

    We expect to assign 10 exercises for the class. The grading will be on a quantized scale: 0, 1 or 2. However only your best 8 exercise scores will count towards your course grade.

    The email address for submissions is ifaatic@ee.ethz.ch. Exercises should be handed in as PDF attachments to an email to this address, with filename ATICXX-Surname-StudentNumber.pdf, where XX is the exercise number, for example ATIC01-Jones-01-234-567.pdf. The exercises must be submitted no later than 09.59 on the next Friday. The assistants will discuss the solution during the exercise session immediately following the deadline.

    Exercise 1 | Hints for Exercise 1 | Solution to Exercise 1 | Due date for Exercise 1: 09:59 on Friday 2nd March 2012

    Exercise 2 | Solution to Exercise 2 | Due date for Exercise 2: 09:59 on Friday 9th March 2012

    Exercise 3 | Solution to Exercise 3 | Due date for Exercise 3: 09:59 on Friday 16th March 2012

    Exercise 4 | Solution to Exercise 4 | Due date for Exercise 4: 09:59 on Friday 23rd March 2012

    Exercise 5 | Solution to Exercise 5 | Due date for Exercise 5: 09:59 on Friday 30th March 2012

    Exercise 6 | Solution to Exercise 6 |Code | Due date for Exercise 6: 09:59 on Friday 20th April 2012

    Exercise 7 | Solution to Exercise 7 | Due date for Exercise 7: 09:59 on Friday 27th April 2012

    Exercise 8 | Due date for Exercise 8: 09:59 on Friday 4th May 2012

    Exercise 9 | Due date for Exercise 9: 09:59 on Friday 11th May 2012

    Exercise 10 | Solution to Exercise 10 | Due date for Exercise 10: 09:59 on Friday 18th May 2012

    Exercise 11 | Due date for Exercise 11: 09:59 on Friday 25th May 2012

    Exercise 12 | Due date for Exercise 11: 09:59 on Friday 1st June 2012

Design Project

    The details of the design project are given in the attached description.

    For examples of prior student projects, please see my UCSB website project page. You may use any of the models given in these earlier projects as the starting point for your own project.

    Due date Project submission
    20 April, 2012 1 page preliminary proposal
    4 June, 2012 5 page report

    You will need to submit your report as a PDF file. The preferred software is LaTeX or one of its variants MikTeX, Texshop, etc.. The following .cls and example files can be used to format your report. They are actually those required by almost all IEEE conferences for the submission of papers. Also attached here is an example layout and extensive documentation of paper formatting.

    File Description
    IEEEtran.cls Class file for IEEEtran style
    bare_conf.tex Simple example of a conference paper submission
    IEEEtran_HOWTO.pdf Detailed description for using the class file (read only the first parts)

    Microsoft Word is not a high quality typesetting program and for most conferences is not acceptable. If you don't know how to use LaTeX and would like to use Microsoft Word instead please make sure all of the following conditions are satisfied:

    • You can make Word generate the correct two-column format with the appropriate font size.
    • The resulting PDF has all fonts embedded and no bitmapped fonts.
    • You are unlikely to want to write another technical paper or report in your career.

References