2/2024 Robust Comteal

Focs ll be om o- comtal.

Robust means nt soihve ta chamges

JAbsolude Staby
|Relate siobi

Gan Mangin and hae Mangin ae th tu easure

nnar) Fon NINO, ran-ina itis
cabustess (Far STSO much mane campCem
Peur much chang in he dam panam etens can be
hamllad
system uithaut being aut o stabity
by the
m

Vimtma1 2B 1:345
Vim,ilm,1 208 1-2

mam" -2.o2 I0303

(m)=2 1
|l mlo - Mo A,nituters
mati Nanm

Fnd hanm aarm nd os

W
Induced Naom
mon M’ned nat be saara
mam take

cton is eqpalte dhe nenben calwms in

th wecor
The lonhe,ch
matn M.
p nanm a, Mahix Mis the man a he pran a M
uhone ni's all passi bl vectors hae pranm (s equal
to1.
Ex.
3

Me

En. | nerm ’ rauruie sumcall calwns.

mam
colun

Sum

|Ml, =3
 4i 35
8%
-o2 T31Fo
87
[o.534
35
V4oG224
7 1|
-Loou
60S6 M,ll6. ence
l\
T-A
-3
2 M=nxn
athi. Squane ougenpresent isshont nanin
oo nt but
1onp-2,3, onmadhi sqpane shantct
fon ae Thone
i2e. ay mati
M The
summak
an cçse calumn d
.49948
N3.q4444
1
 654.

Take aQl n in enms sin m

p=M ellipse

De it ke 3-D in MATUAB.

whatis Sial andSydten?

shlo23
V l a l s y ylognaliae
Plating he diagem na cammon
platrom

Nm)
mamingll

Doit
1,3
By Parsevals thaarem.

Fauien Arong Flw)oitd

t 1
Sty-fat t=O,8)-4
to,sl-O

chonge t
t

CPonsas Thearem)
Fw owt
Fleo)ejt

2
Tesce

dlrantide.behuean
tustointegrahionthe wandu'
Sust
FCjw)' das'dwdt

j CaowtdtFGwda'd
 dw

FEj)
(fljw) Fljw)* duw
Sigpnal
What is Nan amol i s i i camte? Tmariane. Set 2?
equilibniwm paint.
Stab i hy cam be dolined by nanm.
Cclausical dalini han) andt
pentunbd hnamit eqibicm painct
asytm is t equili baiem painct
te coma back ta.
as th anpobi hy to ok
Cn theance
pentunbahen
is StabeeThaarihale
’ But nat tactable
eigmvecton

Equibiurm paint C Dnariame St. -A

Omoriane
Set

hull sat

rancbapal
(En af,Tnonience sd) in he sems

nam
 uhe tp input leuhane inthacahag Zoa)
Cases

erists kon the

cuhich is ig Cimpube, pube), Ahem he
thu input signal
simals s abe ft, tham he
ofor 1,sinal iftha auput
sydem s shbee
them

For liniteomant
tme.
Sep puhe,sinwedal.
MARAB: 1 nanm
2

Stability ca cal Dekinhan

jOereo slbility Csabulity

adhematcay
tnac ktbee
Snecs
Sostable

eqibem
hau he abelity toe come ba ck ta the some
paint in he abimce a entunbtion they he ca
pant is stable 9mp

Invent
SBep
pendulm Ramp
shbl equlibri wm .Ipue
paixt. Sine
Fon ompa t

Tmpule
1
Sine

Syotem Norm
Ha 2- harm

SHandy Space /Funckon Spoce

’2-rarm a7tha aupt yc hem
H2 Qneem)
ivput 'SH
1,y c5) uhen input

2 by
indegnahen
b
H Trace (G CHGLY)dt MATLA

Trace Gju)alyu dus

Troce [GLs) Ges)ds

path
Theam
Z Rend o allthe stable poles Cauch
 ju

2
(s+)(s) soyglem nar
narm

GS) 2
s+)6543)

Cst 2Xs+3)Gst2Cs+3)
A
-S+2

4 = A(s+3)Gs12)-s3)
+ BCs2)Gs+2)ts+)

t D(s+)(s+3)s)
S=-2. 42 AGi)4)s) A = /5
S 4= B D6)6) B = -2/s

Sn MAT AB
hech endis chac

Sn Sthde Spoce
’ ForD-O romest
Gnamian )
has to be stle

real
Wat is meant by track ola 7
 Ho narm
Ghls) scalaz
2ndandar
max |asjw)l Hos

Sptem has to be stbl

Praper. on Penhet stse
2
Wn O00 1,o01, O:1,, 2
2
s2nStwn Bode plat

Fon hanm sytm haste be stble But Hg nam an

S
-S-1

)|2024

Ha’ Stable - Stnicty peoper /no poton)

Hos ’ Stabl /No poleom jw ms.

Arather Syem Nam

L,Ciw): Stricty papu.daus nat haepole onjo
Lo Gius) praper , ns pele onjw ois.
Subspnee
H,ond
umstable Syptem.Bt
the nann
Caleuladed stable eytem
Fan enanple' as)
 this - uo)da

uhere
- 0BAec

lueis
is them at wo mag
So pale is praset
chach ('n MALg

hen alo Hos

G Cs) = Stl St2 preapensytem

St2

PourseaThearm)

striypaapensyatm.

(Sr2)Grs)

3
-20doc

pales prssnt an jwazs

1Ca)h-A
SA2
3n hme domain the integnahon

Bt in knear domcin et da nat

eust.
So H nanm t d nat enit
nanm
Fae Panls traonem eo shald eiste in timnec
’
nqeney dlamain Ce <oo)
Cuell as
Ngyist Plat haaa

tme clomon.
G

’patintis
in matlab -SVd.
Singaa ialu da canpasitan
A =UZV

(AA) onCA'A)
myn
aeArcw.
BasisA

space

Al Jhe us and 's ane ondhanaemal

An Lo, az.. an inr onbineham /Algeba.
2
hatisth maaning
namge spae
One cammet bey the
spoce
Jnear (ombiahan a incdopendt
ecten.
hanam
S
’1!

moce)
Sumatan al i
the momale

Teacels Z CAnxn)
Det TT

lan desiging camdallbr

punpase iemm nDrn
aph lept
narn

ma
input
Subagtml
Syhthesi
12/1|2024
Subapmal ne Nnm is mare

Troce

y(s) = Gls) ucs)

ute Ly nazm

La’uls) lntunaded wt
Tauncated sp
witsep
2

TRace

Trace

gtis on

dw

2
Iul da

2 2

trial an
2
 Lat a = WZV Svd

V= - why

We choe
uev
Lot 1,2,r l
Say

Neu NZV Iwz[]

t ,19 vamal.
v T

2 2

2
onthanaumal
1

i|Gulla which is
man among ollthse is
Ho Nom in State space Forum
Sptem x-Ax+Bu

Alt-T)
At e Bult)dt

CeACtt)
BuctsdT

CeAt

At
Trace C e
HTroce cPCT

Conthalbiiy
AP+PA-BE-O Solabiity candiion
cylasten ean
yapur aahon.
Asignmen
 Scume hing wi th
ne Cam do th

At
Taoce
6etcTce'
At
T ce' dt B
B e

Tnace annapanding yapmov

Chnabili A'QrA -CZ -o
arnamian
6/2024 Csubaptmal)
Ho Nam -In Stade Space

|Gllo
2
2.

(> lul
2
2 7?

Ant Bu Chnee
poduct.
tay prapen bur ini haly ea'laned
2

-9'
 -u'u

BP -rI

A Thisi's Canst
we havea alue dakinite.
Yamolp
i
m

pMp o A'PPA+Cc PB

m B'p

(mn)

Mathi
Symtc
Nen lixsan, tenm Coeansin gmthipadem)
Naw' pnepensem-c)

Tang deni vahve

u-
 2,3u - Cat Du'ccD) AnTex

-y²uu
PB +cD

Ale+PA 4c'c PB+cD

Dc+B'p

CPrevieus one alse)

Main Boundud Real Lemma

Fon the Syten

syem AxtB
yCx t Du

a Seluhon
ests psit ve semst somsdshve Pond
Y Such that

Dounie
 PBeco +CC APPA
IT(sl<y
condiho subiect
to (amcsien bat Leme
142
1970s
Cmeaneme)
llarContra the iput
nal Pant.
li20d Gevana
siognal
stato
R
camat
be Butit
culate Cal
autbhili2) Imuense Sohuns
heck
ralate Whati's
CVX
P-aRe>o
equal becaue R-aso
P>O i
invense
le camnat MATLA
Gomplemos schuz Sher
matrin tan CPant
siysten
s
the
nad can steh
 plt de in
PMis and Gtue y1
raqid piats yat patin
impataut?
stabli
(ansicertas
stble
dlasign e semi Lincar
unstable
dalidby sydem
is the
nnan
patt ano
tuaa these Hau
) (angnal perhunbea the bot"Ralshon
cant
he mal pt dhe as mal subegh
ochiemotoy phmal Hoo
stble5mustha GuiSmale
n
thactable. nat Tharum
pat This
Mathemahoy syemis dtha
bohind Lelt
Unlenan
pant System
=
eny parchineae
and narm Hoobeun Relaton
Uncan
n
salan Matrn
. Sntenie
Sit Ahihh
Day
n-Ax+Bu
CsD-A)B
+D c T(S) chene
Dethis and check
peden
isnlwt+)

1
S+4 PM = c

pke thi and caleulatete

Crain aleas

Smale Guin hesnam

nleran (but
SsLhis untble thun

do in naarsem.
Port
A
tem (Lincan)

hoyil <1
 Kharitarav's acarum

(so)ls)
(s*c)(std)
20/|2024 Ctsnt)

pasie prapend
Syom neao to havedame,
Pase elamant cays inoluce, capahmce

Argan a te

Systm's
 Trunahng the limit in nanm ie f-[

bar
* Unthuncated nanm Ct)is subsct at

a passive syodem <uyr po ? lasam book

Cinpt) jwta knm, neimpe

Cated.
’Rasiy dant quaamtee stabisty.

uly dt
d t-CaDu
CaP

uTCntuiDu ATPxtuieptneAnt

-D

Net Symmtic hence ihis not

Let

o -uc +uTBTei-uou-w-uTPBu
4nPAx
+aTAPx
CawlfPA + ATP PB-e

-co-0D /p - p in ona
anmomo

input Real Lemma.

Rot a Peoit
-Ax+Ba is dalned as Paytve Syodm
The systnm
-semi
here ents a pihue
matrin such Badt the cnesuality is
delinite P
[PA-AP
BP-c -Co-8

TP whan sa

AR AT

LB
2a/1/024
spoce,is aemdad.

-0 n cthis casc

This maomatthot both

Hhem pss ve
Tis da na
uaramte
Let Hiamd his be in a calahen i , ’
Gntendad Teumcahom
Tumaded nanmis iite

(n abaue ue
Coder Hi passie am Hsictey paive Sain tht

Prao tumcated

<uny<u,Hye,
<y+hgi, Hei
Lei,HeiKhiy,He
pasive
 Ci

Naw S, Tcambe etned

hauto

nact

has to be ite.
Let Hi andH, be ina nalahan Lye f CAt leoat pasie

we Camne as

YH,).Yr)te
then the Cl syotmis indennally skb

Fende qpin Sup |1Gul2

 Condi Han.
CAONthe preias nidoa )
Small gn Theanm

Besh Hi andY harel t e ta gain Y,Yos u)

thom YCH, Jy CH)<1
Tn that cose CLSydemis indennaly stble
A uell as input tb coutput is also shable

Deit ontellr
Suliiet con
Com di hon is
spin

ALL shbie Araaon jahan ane s ceype.

 Ay sdeb sykm ao hone nte Hon naen

Sma Q

»pantahhon
WCe o m
b b
t a

p h
m ab e c a s s

v s g h s i p r a b f

Ha

The auena l laep is chble t YY C1.

Ya
Da'y a Ho camtrallor such thon Y2 ssm cs

25 (2024
i- Vecn Nam
2. Maun Norm
3.Ssmal Nsm dinetythe a nanm
chsih
Nam

Resida (Hz)
Shle Sprce CH, RHa)
Gols) bo A)
perkhon
Task'- mnY
henenlied Plont &Dnennal stabilty Penenmane
P,’salb.

) STS6 - Rabustness CFeedbock ontal Thaay dook

cantralipt hemQalunmt

modenn cantnal
memo Sytms,apuctds nat hanc much
On Cade ar
Slgmili came, So uhateuen sigmal is impantnt, e all
Jhem as cbËechegmal,
n aun hod.
asSma
soc hast be
No
3
junchon

gain
pnla. T+S= 1 CSTSo)
=I CTMO)
T= KP

i-PK

d
 T PS T T) PK
3-ps'
T PS
|+PK

EnBenras Stabishy haaram:

is indeanally sdable
stm
De}i- A tralan hemehonahba
Skall he nine unstoble prsls
and thane is no Pandk.
Conceohan cn (P.)
Bw
Design Spacyhon
’ tr tsct
’Peole Oveehot
’ Steody seeera
that
fon input to autut upawe. iWe can
BW
But we caat it teo beDau. Buit ’ Slope t gain crasoe
it spenok
iz, MHz, So ik ou Bw

serae ofchom aipis small G|42) E

the
ugh Tand Sas
ie T+S =1

t each ah them is stabee uudhat tble pel 1ane

smal as paSa blenat

Ne want ha distunbnce elle ct toe be a
on Jhat tieo nueá PS to be mallen

T,-T, rnag pla cemajs Same. The pase gt clangd y

+i80°
 Represemdakon , Pentanbd Sylenm

2ha

uliplicahite Addiie Capu me

1 Thene is anathen. J n.Aud. t.

Tnput mudtiplicae Invense Mulplicah ve
mulhipl Caiuo
input
maltlahne
pentinbohan
lnkncon but talble

tn dems
Repeasent tn
al, PT,S
í+Pk
-PK
N +PK

Zi+Pk)-KPo
P9 Ps - Kp

open ogp plant

b hets
 Ss by &lbet Roliahon.
sTF Kalmn Roaihem
thtmltpat penkabahen Ho wn Stope spoci

canmat he calclated

Adite Pentnbhon
I o
-(at1
I

cU u, a, d dotuomee

AlB,6 Dais impartnt

Gilheet
Stete Spa fapnenhon clat
he GruncnaliidPlant
APanametie
mass Syutem
Stnuctune& fent incenkuinig
natured chcantinty
F-m lreax)tbx
wtin.
2l2a024

Nu mati
dimewi an a
Conidaned
Eitame a Saop ’ Wece Padns Feedbock

shanl eústs and

cse doined Cat leatpreape)
-Re
Ple,+hwy

Na cannst
PLepreetahan
 e]a-p'
pmathin
e vekon

e,= (w+Pe)
PCw ke,)
e, (-pR)= Pwi

<eyte,

Nou
(
P
W

Se
Sthun'slnven,ion Lemna
Eithan An a A12 has tee lho
An An
A22 nan singlan.
souan mati'n

A, e
them m-l AAA Az, A -A A,A
~A

-A Az A

A = CAa2 - Az Aj An)’chun Campamet ag Ain int

Apaing Sehur Dnendan lemma

I - 2+IG)(1-PSGP)I -I GK-P
-(I-P)-P)T (I-en)

A I -(-PI-) T-PK

KT-P
(1-PjP (-Pu
Madri Tdonh heb
 y (LAX)s (I 1 Yx)y
)

(I - pn'e

(I - Xy:

T:(I-)L+ (L- xyyxY

J:(I-xy) + xY)
q-ke
Pseonesseeitmee conditionchadbe
Fon well
hebsinglon

(I-Pao)Kc)) onids. davs natlee

dimen

Ples)D madrix the sytem

dynamic Cavthallon.
Quenall
Sutyuetcandihan to cuck
Condaen

S (I- Plos)has) (I -Dp Dw) enver

Te mabe sem est, mae Detd

n ardan
co

n anl

Ap

T
-Dp|
-Dr

Ant B LP
 Dp
w

T -D

lame
Ye.

ensteunce a
Exstme the clay Socp doapendo on the
I -D
-Dp I

S/2|2021
Same ReAlb an
i> Rabust cL Stablhy sSo sytem

Nom ral
(PIS)

Small
ACS) ceble
Ps) >sbe harem

MIMO
 lbhave
gomanal.
pealanmawe
depn The
S n
inpt’ shp ond
enna1 inptStody
chte ondp 1
Fen
andan saond cun|m apant oyhing ishine
spkm anlan sauand sdeal ’
stb cL
Rabst
d tA)n
ts Caomial stbiliing plot rall the also
btplantnamunal the
Stbiliay Rabutc called iis
them skbk isdem Sys
oided rat Ais ounall the WiAh
stable Namin
CL
stable (s) Pe
 Aalyne a ideal T F lon hat we nad
selactd by idoal
Boda empary
peat

Tie shape s shel

can be uu den cn anm

ha penaammce prablom
hamprabkem
Im

Real

find PK

i10+5
00

105

125
GO8tjo 32 - O899 L20.85°
Ph-5120

0-644 2c's5 x}12o

= 5-12*+a5-4415
=-2-5-i433 -o 0715*,0 44378
--26715- 4-T378

=S"424 -13242 e

Tha alap enol he

shaul ha he tosuch
Gljo) paint., teonte
itis
h seystem is rabest
stalsle
/2/02u

bO(S+ 1Do) 3440

tod

Wis the TF uich shausin

cuch ae Ais pnomnnt quite tche omosd
is prgminend.

CL
is rabustly skhe wat muliplicahe
ASykm

ve clachua
Aw is ncontin hy -veanaab

IlAl 1 IN=2-°

Nygist stbd Foa cockebe cantoar in s-plne

eneineemendt tuve ’anhachse
NP-Z N: Noor
P RHP in open Joap
cuntah

clockwse
2 -)z) 20
P
Yomhekis
Can nenen be mode unstable.
Far loap L-k
1+L shauld hove h cncinlemot

PCI+w,)K

pales sbte shald vat chamg

Weiit matin ialiny

- (1+) + ALWI

cLis slabee
U*)+ ATWbb
cncinclamout ndus
be t s
pant
Betn have Seme enuinelamtamol te uinel
enanclamt addad
Fon that AT, had
hat teh -1

Taiss a t
g tauch
s/a/2024
Robust Penteraane (t stlby2 On the banis

hmchen.
unhnawm

-Ts

23
w

Z-N mothos

W2 Reqimend jan
Nominal Penkenmance pornfenmnce
W’penamne
Pertnbd Sypten W> stbiliy
W W2

W
N2 Ws

Wes alls1

|+T ralbust antnel

Seaten
Tais Changgemcinelamet
.
cin
clo

actalw cdnauaeirclaanaun
nenm
 s Rsbust W25

I = l t wTWT
Tohing mod

wtots
Reploce |-twl
I-]wT|14 WT|

Ws

|L

S+T =1 Water.be

Se ik

pint has be igh.

ra/a]2024
ascade
A, Bi
C, Di
GoAB2
C2|Dz GtoA

A2,z

Se

BC, Az B,D

A B A
Az 6,D
D,Ci Cz DDi

-Gs)= A-B - csT-AS Bro

-D cCsI -AS-B)-D
 AX
n A+ Bu y-CarDu
-An+ -GDCA
D

Sn bek

A-B5

> (o)CsT- CA-e)CB) +

s]2]024

’ Baoi caysign
narm.
’Bath.

stobe and pnape

Gs)

Grgular
 H A -BR c
Homiltonian -CA-BA

stla.
Hene A nas te be

2
G-s) acs) <TY
-AT
A nn

C=pxn

-A O-cT 2

BB ABDT
C
DD.
DB

~AT
BBT A BD'
DeT

AT
BB A -BDt

De See
bak

BB' A -BD
L DBT Cy o
 c`T-A)`s

alie is

This traemehan das nt he

je

A-BRc-R
A-BRC

EpndngA -BE
AT
A -6D

[-A-C'Rbe -cs'c
BBBD R'DE A8Rc
 A B -A -C < Iy
CD BT D

A
-cC -A

BT

-ccc BT-Do

A C
- C'c A

BTY-DO

AB
CR

A - BRcBR
R1
R
exponding A-BR'C
B'_(A +BE'De)
A RI Dc
-cc -A'
A +BR DC
- A-cTDrB
-c't-cpRDC