Fragebogen Robust Control

Fragebogen Robust Control TU Kaiserslautern
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  Chapter 1 (Introduction to Robust Control) -   The sensitivity function is important for us to show the robustness of a system. Can you write (express) this sensitivity function? -   Usually the effect (representation) of this sensitivity function is drawn in Nyquist plot. Can you show how this representation would look like? -   How could you say that our system is (nominal) stability by using this sensitivity function and the Nyquist plot? Chapter 2 (SISO) -   For the uncertainty, we have different forms of uncertainty. Could you tell all of them? -   For the multiplicative dynamic uncertainty, how would we define this type of uncertainty? -   Why is delta ( Δ ) expressed in complex plane? What ’ s for? -   How would we apply this uncertainty (effect) to the Nyquist plot (for the stability case)? [be careful for explaining this] -   What is the criteria for the system to be said robustly stable? Is that criteria sufficient and necessary condition? -   For checking the performance of a system, what would we need? (what kind of function do we need?) -   For the performance, you need sensitivity function. Could you draw in Bode plot how this sensitivity function “ usually  looks like? -   For the weighting performance function, what would be the typical selection for this? Could you sketch this performance function in Bode plot and also indicate the parameter of the function? (Maybe he will ask what is the physical meaning of each term of the parameter) -   How would you choose the ω B  (bandwith) for the weighting performance? -   How then should we say the condition for (nominal) performance is satisfied? -   What is the condition for the robust performance? Could you draw the interpretation in Nyquist plot? Why do we make a circle around the critical point? Chapter 3 (MIMO) -   How would the sensitivity and complementary sensitivity function look like? -   By looking into SISO technique for robust stability, can we still use the same way for the MIMO case? For example, we have a very good computer that is able to compute and plot all the Nyquist plot of all input-output pairs. Will it be enough to use this way? Is there any possibility that by using SISO case, we will get worst condition? [This is very difficult question] -   If it is not possible to proof MIMO case by using SISO ’ s way, what would we do then? -   What is the physical meaning of maximum singular value? -   What is the condition then for saying our system is robustly stable? Could you explain what this condition means? Is that condition sufficient and necessary condition? -   If not, which condition is then appropriate? Why do we use this condition?  -   How is the relationship of structured singular value of M (µ(M)) and maximum singular value of M ( σ max (M))? Could μ (M) be the same value as σ max (M)? -   For the performance, how would we check the robust performance? -   Imagine μ (M) is 2, what would we do to satisfy the condition for robust performance? Can we satisfy the condition when we reduce the uncertainty ( Δ )? PS: For my case, he will ask the question all about stability (nominal and robust) case (SISO and MIMO) first, then the question about performance for all.

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Apr 16, 2018
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