回 | テーマ | 内容・達成目標 | 範囲(章、ページ番号) |
1 | What is robust control? | Mathematical preliminaries | Handout |
2 | Linear dynamical system theory (1) | Signal norm and system representation | Handout |
3 | Linear dynamical system theory (2) | Controllability and observability | Handout |
4 | Linear dynamical system theory (3) | Stability and Lyapunov equation | Handout |
5 | Linear dynamical system theory (4) | System norm (H2 norm) | Handout |
6 | Linear dynamical system theory (5) | System norm (H∞ norm) | Handout |
7 | Introduction to robust control (1) | Model uncertainties | Handout
|
8 | Introduction to robust control (2) | Small gain theorem | Handout
|
9 | Internal stability (1) | Well-posedness and internal stability | Handout
|
10 | Internal stability (2) | Parameterization of stabilized controller | Handout
|
11 | H∞ control (1) | Generalized plant and H∞ control problem | Handout
|
12 | H∞ control (2) | Solution of the H∞ control problem | Handout |
13 | Linear Matrix Inequality (1)
| Preliminaries of LMI, Convex analysis
| Handout
|
14 | Linear Matrix Inequality (2)
| Lyapunov inequality, Bounded real lemma
| Handout |
15 | Linear Matrix Inequality (3)
| Control system analysis / synthesis with MATLAB
| Handout |
16 | Final Exam | | |