ECE1659H: Robust and Optimal Control (Winter 2023)This is the website for the University of Toronto course ECE1659H "Robust and Optimal Control", Winter 2023. Course DescriptionConvex optimization methods based on Linear Matrix Inequalities (LMIs) have dramatically expanded our ability to analyze and design complex multivariable control systems. This course explores material from the broad areas of robust and optimal control, with an emphasis on formulating systems analysis and controller design problems using LMIs. Topics include: historical context of robust control, fundamentals of optimization, linear matrix inequalities and semidefinite programming. Linear systems theory: Lyapunov inequalities, input-output performance criteria for dynamic systems, dissipative dynamical systems, and the generalized plant framework for optimal control. LMI solutions of H2 and H-Infinity state and output feedback control problems. Uncertain systems: linear and nonlinear uncertainty modelling, linear fractional representations, robust stability analysis, robust performance analysis. Introduction to integral quadratic constraints. PrerequisitesCompetency in classical control (ECE311/ECE356) and linear systems theory (ECE410/ECE557 or equivalent) is required. Introductory knowledge of nonlinear dynamical systems and convex optimization would be highly beneficial, but is not strictly required. LecturesPlease see here for the most up to date scheduling information for in-person lectures. Course NotesSee here. Supplementary References
InstructorJohn W. Simpson-Porco Office HourBy appointment PiazzaWe will use Piazza, linked off of Quercus, as an asynchronous forum for questions and discussion. As group discussion and back-and-forth is extremely valuable, all students are highly encouraged to participate, and a percentage of the course grade is allotted for participation in the Piazza. 'Participation’ here is broadly defined as positively contributing towards your learning and academic growth and that of your colleagues, and could include asking questions, answering or attempting to answer questions, typing up or linking to related material of interest, etc. As the Piazza is intended for discussion of course content, I reserve the right to moderate any posts which stray too far off topic. Grading
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