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1、1EssentialsofRobustControlTheseslideswillbeupdatedwhenIhavetime.LastupdatedonAugust28,20002IntroductionThisintroductionisadoptedfromsomeofJohnDoyle'slectures.3Classicalcontrolinthe1930'sand1940'sBode,Nyquist,Nichols,...Feedbackampli erdesignSingleinput,singleoutput(SISO)FrequencydomainGraphicalt
2、echniquesEmphasizeddesigntradeo s{E ectsofuncertainty{Nonminimumphasesystems{Performancevs.robustnessProblemswithclassicalcontrolOverwhelmedbycomplexsystems:Highlycoupledmultipleinput,multipleoutputsystemsNonlinearsystemsTime-domainperformancespeci cations4TheoriginsofmoderncontroltheoryEarlyyea
3、rsWiener(1930's-1950's)Generalizedharmonicanalysis,cybernetics, ltering,prediction,smoothingKolmogorov(1940's)StochasticprocessesLinearandnonlinearprogramming(1940's-)OptimalcontrolBellman'sDynamicProgramming(1950's)Pontryagin'sMaximumPrinciple(1950's)Linearoptimalcontrol(late1950'sand1960's){
4、KalmanFiltering{Linear-Quadratic(LQ)regulatorproblem{Stochasticoptimalcontrol(LQG)5Thediversi cationofmoderncontrolinthe1960'sand1970'sApplicationsofMaximumPrincipleandOptimization{Zoommaneuverfortime-to-climb{Spacecraftguidance(e.g.Apollo){Scheduling,resourcemanagement,etc.LinearoptimalcontrolLi
5、nearsystemstheory{Controllability,observability,realizationtheory{Geometrictheory,disturbancedecoupling{Poleassignment{AlgebraicsystemstheoryNonlinearextensions{Nonlinearstabilitytheory,smallgain,Lyapunov{Geometrictheory{Nonlinear lteringExtensionofLQtheorytoin nite-dimensionalsystemsAdaptivecont
6、rol6Moderncontrolapplication:ShuttlereentryTheproblemistocontrolthereentryoftheshuttle,fromorbittolanding.Themoderncontrolapproachistobreaktheproblemintotwopieces:TrajectoryoptimizationFlightcontrolTrajectoryoptimization:tremendoususeofmoderncontrolprinciples{Stateestimation( ltering)fornavigatio
7、n{Bang-bangcontrolofthrusters{Digitalautopilot{NonlinearoptimaltrajectoryselectionFlightcontrol:primarilyusedclassicalmethodswithlotsofsimulation{Gainscheduledlineardesigns{Uncertaintystudiedwithad-h
