Difference between revisions of "Robust Performance"

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{{Chapter
 
{{Chapter
 
|Chapter number=13
 
|Chapter number=13
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|Short name=robperf
 
|Previous chapter=Frequency Domain Design
 
|Previous chapter=Frequency Domain Design
 
|Next chapter=Fundamental Limits
 
|Next chapter=Fundamental Limits
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|First edition URL=https://www.cds.caltech.edu/~murray/amwiki/index.php?title=Robust_Performance#Frequently_Asked_Questions
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|Chapter summary=This chapter focuses on the analysis of robustness of feedback systems, a vast topic for which we provide only an introduction to some of the key concepts. We consider the stability and performance of systems whose process dynamics are uncertain. We make use of generalizations of Nyquist’s stability criterion as a mechanism to characterize robust stability and performance. To do this we develop ways to describe uncertainty, both in the form of parameter variations and in the form of neglected dynamics. We also briefly mention some methods for designing controllers to achieve robust performance.
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|Chapter contents=# Modeling Uncertainty
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#* Parametric Uncertainty
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#* Unmodeled Dynamics
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#* When Are Two Systems Similar?
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#* The Vinnicombe Metric
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# Stability in the Presence of Uncertainty
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#* Robust Stability Using Nyquist's Criterion
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#* Youla Parameterization
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# Performance in the Presence of Uncertainty
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#* Disturbance Attenuation
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#* Response to Reference Signals
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# Design for Robust Performance
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#* Quantitative Feedback Theory
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#* Linear Quadratic Control
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#* $H\relax \p@index \infty $ Control
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#* The Generalized Stability Margin
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#* Disturbance Weighting
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#* Limits of Robust Design
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# Further Reading
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:: Exercises
 
}}
 
}}
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{{Chapter footer}}

Latest revision as of 13:28, 7 April 2024

Prev: Frequency Domain Design Chapter 13 - Robust Performance Next: Fundamental Limits
Robperf-firstpage.png

This chapter focuses on the analysis of robustness of feedback systems, a vast topic for which we provide only an introduction to some of the key concepts. We consider the stability and performance of systems whose process dynamics are uncertain. We make use of generalizations of Nyquist’s stability criterion as a mechanism to characterize robust stability and performance. To do this we develop ways to describe uncertainty, both in the form of parameter variations and in the form of neglected dynamics. We also briefly mention some methods for designing controllers to achieve robust performance.


Teaching Materials

None available

Additional Exercises

None available

Frequently Asked Questions

None available

Errata

None reported

Python Code

The following Python scripts are available for producing figures that appear in this chapter.

See the software page for more information on how to run these scripts.

Additional Information

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