Multivariable Feedback Control
(6 credits)

Prof. Leonardo Lanari

schedule 2017-2018 academic year, second semester: 26 Feb 2018 - 1 June 2018
classes A6 - Tue 12:00-14:00, A4 - Thu 10:00-13:00
office hours Thu 15:00 - 15:30, room A212, DIAG, Via Ariosto 25
course website

NOTICE: The 2017/18 course will start on March 13 at 12:00.


This 6-credit module is
primarily offered to students of the Master of Science in Control Engineering (MCER) of the FacoltÓ di Ingegneria dell'Informazione, Informatica e Statistica of Sapienza University of Rome. Any student with a basic control background is welcome.


This course provides some advanced tools for the analysis and control of multivariable linear systems with particular emphasis on performance and robustness.


Single Input - Single Output (SISO) systems:
- performance and performance limitations
- robustness (additive and multiplicative representations) in the frequency domain, unstructured vs structured uncertainty
- small gain theorem
- general control problem
- robust stability and robust performance

Multiple Inputs - Multiple Outputs (MIMO) systems:
- Singular Value Decomposition, directionability
- loop shaping
- robustness, structured singular value (SSV)
mu-synthesis control problem

Case studies

MFC Google Group: MFC_GG (access is restricted to Multivariable Feedback Control students - send email for invitation)