Robust Control of Mechatronic Systems - 5EU9RCM0

Goal(s)

• Ability for design and analysis of Hinfinity controllers,
• Ability for modelling and control of Linear Parameter Varying systems
• Be able to apply a robustness analysis method
• Master the integrated mechatronics approach to the design and dimensioning of intelligent systems.
  

Responsible(s)

Olivier SENAME

Content(s)

Robust control of MIMO LTI \& LPV systems

1. Part 1 : LTI Hinf control
— A first dive into Hinf control : the SISO case
— What means the Hinf performance for MIMO systems ?
— How to analyse and specify performances in the MIMO
case ?
— How to formulate an Hinf control problem ?
— How to solve an Hinf control problem ?

2 Part 2 : Modelling and properties of LTI
systems with uncertainty and of LPV systems
— Modelling of LTI uncertain systems
— What is a Linear Parameter Varying systems ?
— How to approximate a nonlinear system by an LPV
one ?
— Controllability (stabilizability) and observability (detectability)
— Stability of uncertain LTI systems
— Stability of LPV systems

3 Part 3 : Hinf / LPV control and observation approaches

• Hinf / LPV Control design methods
  — The Hinf framework within LPV approach : a generic
  tool for ’adaptive-like’ control
  — Observer and filtering problems
  — What else in Hinf approach ? Robust control design and
  multi objectives : LTI & LPV

Control of mechatronic systems:
Modelisation, simulation and conception of mechatronic systems. Industrial and mobile robotics notions. Specification and evaluation of dynamical performances. Embedded control systems and reference generation. Disturbance estimation and adaptive rejection of disturbances. Fault-tolerant control notions. Code implementation in microprocessors.

UE Automatique 1 (Automatic control 1)
UE Actionneurs (Actuators)
UE Systèmes Temps-réel (Real-time systems)

Linear Systems, Transfer and state space approach, frequency and time-domain analysis

Test

Session 1
Final exam (ET1): 2 hours supervised written exam
Continuous assessment (CC1): 1 Lab report, 2 project reports

Session 2
Final exam (ET2): new assessment (ET2) to replace session 1 assessment (ET1)
Continous assessment (CC2): no resit for continuous assessment, session 1 assessment retained (CC1=CC2)

The exam is given in english only

Calendar

The course exists in the following branches:

• Curriculum - Master's Degree in Engineering ASI - Semester 9 (this course is given in english only )

Additional Information

Course ID : 5EU9RCM0
Course language(s):

You can find this course among all other courses.

Bibliography

Mechatronic Systems: Fundamentals
Par Rolf Isermann
Springer Science & Business Media, 29 déc. 2007 - 624 pages

1. D. Alazard, C. Cumer, P. Apkarian, M. Gauvrit, and G. Ferreres. Robustesse et commande optimale. Cpadues Editions, 1999.
2. J.C. Doyle, B.A. Francis, and A.R. Tannenbaum. Feedback control theory. Macmillan Publishing Company, New York, 1992.
https://sites.google.com/site/brucefranciscontact/Home/publications
3. G. Duc and S. Font. Commande H1 et -analyse: des outils pour la robustesse. Herms, France, 1999.
4. G.C. Goodwin, S.F. Graebe, and M.E. Salgado. Control System Design. Prentice Hall, New Jersey, 2001.
csd.newcastle.edu.au
5. Scherer, C. and Wieland, S. (2004). Linear Matrix inequalities in Control. lecture support, DELFT University.
6. S. Skogestad and I. Postlethwaite. Multivariable Feedback Control: analysis and design. John Wiley and Sons, 2005.
www.nt.ntnu.no/users/skoge.
7. K. Zhou. Essentials of Robust Control. Prentice Hall, New Jersey, 1998. www.ece.lsu.edu/kemin