The course will be given in academic year 2023/2024. The course will
start on Wednesday, January 17, 2024.
The lectures will take place in Nollstället (Entrance 25, room 3D:550)
Handin exercises
A handin exercise 1 is available here
ex1 .
Please try to solve the problems and hand in your solution before March
8.
A handin exercise 2 is available here
ex2 .
Please try to solve the problems and hand in your solution before April
10.
The course will use two books
[ZDG] Robust and Optimal Control by Zhou, Doyle and Glover,
Prentice Hall, 1995, ISBN 0134565673. The book is available in
cloth cover from Prentice Hall.
[SP1] Multivariable Feedback Control: Analysis and Design by Skogestad and Postlethwaite,
John Wiley and sons, ISBN 0471943304, or
[SP2] Multivariable Feedback Control: Analysis and Design, Second
Edition by Skogestad and Postlethwaite,
John Wiley and sons, ISBN 0470011688.
[SP1] and [SP2] are equivalent.
[HO] Handouts or lecture notes.
Short notes on Linear Matrix Inequalities. This
document gives a short introduction on how to use LMIs to solve
H_{∞} synthesis problems.
Examination
The examination is a threeday takehome exam.
Proposed exercises
Lecture 
SP1 
SP2 
comment 
2 
3.19, 3.23 
3.22, 3.26 


4.16 
4.16 
H_{2}, H_{∞} 

11.1, 11.2 
11.1, 11.2 

4 
9.2, 9.3 
9.2 
LQR 

4.1 
4.1 
Coprime 

4.13, 4.15 
4.13, 4.15 
IMC/Youla 
5 

9.6 
H_{∞} Compleib exercises: AC3, AC4, AC8, AC10,
AC13, AC14, AC18 (pick 3 or 4 examples).
Unpack "compleib.zip" and put it in your Matlab path. The type
"[g, dim] = complib('AC8')", where "dim" defines number of
measurements and controls.

7 
9.6, 9.7, 9.8, 11.2, 11.3 
9.7, 9.8, 9.9, 11.2, 11.3 
Loop shaping 



genring example 
8 
8.1, 8.2, 8.3, 8.12 
8.1, 8.2, 8.3, 8.13 
Uncertainties 
Some more links
hinflmi.m. This Matlab file can
be used for H_{∞} synthesis. Requires Yalmip and
SeDuMi. You also need recoverP.m.
ellipfilt.m. This Matlab file can
be used for defining low pass filters with a specified cutoff
frequency and damping.
genbeam.m. This Matlab file
generates a model of a flexible beam.
beam.pdf. A short description
of the flexible beam model.
robkurs.tar.gz. This
archive file contains Matlab files for solving the pendulum problem,
which was handed out during the first lecture.
loopshaping.m. This
script file uses loop shaping for solving the pendulum problem.
Extra
exercises intended as a preparation for your examination.
Solutions.
Another old exam.
Solutions.