34746 Robust and Fault-Tolerant Control Exercises

Exercises for lecture no. 14 in 34746:

• Exercise from the textbook: 7.7 and 7.10

• Exercise no. 2 and 3

Exercise 2
The closed loop control system is a unit-feedback loop with controller
K(s) = 1 and a plant G(s) = Gnom (s) + Wa (s)∆(s), where
10
Gnom (s) =
s2 + 0.2s + 1
Assume that ∆ ∈ RH∞ (is stable) and |∆| ≤ 1.
Calculate the condition for robust stability for a system including an
additive model uncertainty.
Calculate an upper bound as function of ω for Wa (jω) such that the
closed-loop system is robust stable. Show the bound in a plot.

Exercise 3
1
Let a feedback controller given by K(s) = s and a nominal system model
be given by
s+1
Gnom (s) =
s2 + 0.2s + 5
Further, let the uncertain model be given by:

G1 (s) : Gnom (s) + Wa ∆(s)

where Wa ∈ RH∞ and |∆| ≤ 1.

Calculate upper bound for Wa (jω) ∈ RH∞ such that the closed-loop
system is robust stable with |∆| ≤ 1.
Construct the smallest destabilizing gain k in the weight matrix Wm ∈
RH∞ in the following case:
k(s+10)
G2 (s) : Gnom (s)(1 + Wm (s)∆(s)), where Wm (s) = s+50