The final exam for clearing ROBUST CONTROL consists of an oral exam focused on the topics discussed in the classroom. Lectures in the classroom follow the following textbook:

Isidori, A. (2017). Lectures in Feedback Design for Multivariable Systems, Switzerland: Springer International Publishing.

A detailed list of the covered topics is the following:

Chapter II

• Stabilization of Minimum-Phase Linear Systems

• Normal Form and System Zeroes

• The Hypothesis of Minimum-Phase

• The Case of Relative Degree 1

• The Case of Higher Relative Degree: Partial State Feedback

• The Case of Higher Relative Degree: Output Feedback

Chapter III

• The Small-Gain Theorem for Linear Systems and Its Applications to Robust Stability

• The L2 Gain of a Stable Linear System

• An LMI Characterization of the L2 Gain

• The H Infinity Norm of a Transfer Function

• The Bounded Real Lemma (without proof)

• Small-Gain Theorem and Robust Stability

• Examples: VTOL aircraft and D.C. motor

• The Coupled LMIs Approach to the Problem of c-Suboptimal H Infinity Feedback Design (sketch)

Chapter IV

• The Problem of Asymptotic Tracking and Disturbance Rejection

• The Case of Full Information and Francis’ Equations

• The Case of Measurement Feedback: Steady-State Analysis

• The Case of Measurement Feedback: Construction of a Controller

• Robust Output Regulation

• The Special Case in Which m = p 

• The Case of SISO Systems

• Internal Model Adaptation