MECH550F: Multivariable Feedback Control Review and today's ...

Summary
Last homework (Due Nov 10, 5pm)
• μ-synthesis for structured uncertainty
• D-K iteration
• If you want to design a controller by step-by-step
D-K iteration using dksyn.m, use
options = dkitopt('AutoIter','off');
• D-K iteration often generates very high-order
controllers. Apply model reduction to designed
controllers if necessary.
• Announcement: No lecture on November 5.
2009/10 T1 MECH550F : Multivariable Feedback Control 21
• In Lecture 14, we assumed that we have two PID
controllers, and analyzed their robustness.
• In this homework, you are required to design a robust
controller.
• The design specifications are (cf. Lec.14, slide 19)
• The worst case sensitivity gain should be at most 8dB.
• The bandwidth (the frequency that |S| passes 0dB) should be as
large as possible.
• Verify that your controller satisfies the specs by sampling
uncertain plant.
• Submit only (readable!) m-file. m
2009/10 T1 MECH550F : Multivariable Feedback Control 22
Appendix
• In RP problem, what does
it mean if
for all ω?
• It means….
2009/10 T1 MECH550F : Multivariable Feedback Control 23
6