Robust Feedback Theory

This is a graduate-level controls course built around a single question: when your plant model is wrong (and it always is), how do you design a controller that still keeps the loop stable and meets performance specs? You will spend the term working through frequency-domain machinery — Youla parametrization, Nevanlinna-Pick interpolation, Nehari/Hankel methods, small gain arguments — and ending with H-infinity and LQR designs solved by hand and in Matlab on homework sets, a midterm, and a final. It assumes you are comfortable with classical feedback and signals/systems, and it is the bridge between that undergrad material and modern robust/optimal control research, which is why it shows up in the background of almost any EE thesis touching control, mechatronics, or process systems.