Describe the control design procedure called \mu-synthesis that aims at achieving robust stability in presence of structured uncertainty. Show how the requirement of robust performance can be included in this robust stabilization framework (the answer: by including an artificial uncertainty block corresponding to performance specs).
Explain the algorithm called DK-iteration that is used to solve the \mu-synthesis problem.
Discuss the shortcomings of the \mu-synthesis procedure (they mostly stem from the DK-iteration algorithm).
Explain the essence of the \mathcal H_\infty optimization-based loop-shaping method. In particular, explain briefly the type of uncertainty against which the controller is designed to be robust. What are the advantages of this method compared the other \mathcal H_\infty optimization-based methods?
Skills (use the knowledge to solve a problem)
Design a controller for robust performance using \mu-synthesis.
Design a robust controller using \mathcal H_\infty optimization-based loop-shaping method.