MULTIVARIABLE, NONLINEAR AND ROBUST CONTROL

(Academic Year: 2022-2023)

Instructor: Marco Casini (casini@ing.unisi.it)

Assistant: Gianni Bianchini (giannibi@ing.unisi.it)

Class schedule

• Wednesday, 10:15-11:45 - Classroom 13
• Thursday, 8:30-10:00 - Classroom 18
• Friday, 8:30-11:45 - Classroom 18

Office hours

• Marco Casini: Thursday, 11:00-13:00 (both in presence and online at https://meet.google.com/gbz-yaid-kjk)

Course content

• Internal stability of a feedback system ([FCT] - Sections: 3.1, 3.2, 3.3)
• Stabilization, controller parametrization ([FCT] - Sections: 5.1, 5.2, 5.4, 5.5, 5.6)
• Poles, zeros and stability of MIMO systems ([MFD] - Sections: 2.1, 2.2, 2.3, 2.4, 2.6, 2.7, 2.8, 2.10)
• Performance and robustness of MIMO systems ([MFD] - Sections: 3.1, 3.2, 3.3, 3.4, 3.5, 3.8, 3.9, 3.10, 3.11, 3.12)
• Absolute stability ([NS] - Sections: 10.1, 10.1.1, 10.1.2)
• Feedback linearization ([ANC] - Sections: 6.1, 6.2, 6.3, 6.4)

Reference textbooks

• [FCT] J.C. Doyle, B. Francis, A.R. Tannenbaum, Feedback Control Theory, Macmillan Publishing Company, 1992. (PDF)
• [MFD] J. Maciejowski, Multivariable Feedback Design, Addison Wesley, 1989.
• [NS] H. Khalil, Nonlinear Systems (II edition), Prentice Hall, 2002.
• [ANC] J.J. E. Slotine, Applied Nonlinear Control, Prentice Hall, 1991.

Lecture notes and video recordings

• Lecture notes are available in a Google Drive folder. To obtain access to this resource, please send an email to the instructor from your institutional account.
• Video recordings are available in the same repository.

Exercises and Matlab scripts are available on this page