Frequency synthesis of robust controls

As the model of a system to be controlled is by nature uncertain, synthesis methodologies must provide robust control laws, i.e. guaranteeing performance that is as insensitive as possible to the actual parametric state of the controlled system. Several methodologies are currently available. This course presents two frequency-based methodologies, QFT (Quantitative Feedback Theory) and CRONE (Robust Non-Integer Order Control), which take account of any parametric variations in the system to be controlled in the form of fully structured frequency uncertainty domains determined without any markup. The specificity of the CRONE methodology developed at the IMS laboratory (ENSEIRB-MATMECA/Université de Bordeaux/CNRS) is the use of high-level parameters such as fractional orders of derivation or integration to pre-parameterize the control law and thus facilitate its determination. Implementation of the QFT methodology is more intuitive, but gives a good feel for the finer points of loop shaping. Both methodologies are illustrated, in class through examples, through 2 practical assignments using Matlab/Simulink, and finally through their application to a real control problem related to vehicle dynamics control studied in module AU314 (Vehicle Dynamics) of UV E5AM-D or AU307 (Robust Control Synthesis by Optimization) of UVE5AM-D.
The module outline is as follows:
* Robustness: degree of stability and stability margins robustness and stability margins. * CRONE control: presentation First-generation CRONE control Second-generation CRONE control Third-generation CRONE control Control problems specific to industrial applications. Implementation with the CRONE CSD toolbox for Matlab * QFT approach: description of the methodology implemented with the QFTCT toolbox for Matlab.

Linear systems and linear system control.

Automatic

150-page course handouts. Texts of two practical assignments.