Short Course in ROBUST CONTROL WITH CLASSICAL METHODS - QFT During the three-day period Wednesday 10 September 2003 - Friday 12 September 2003 an intensive course will be given on robust linear control for uncertain linear and non-linear dynamical systems. We will use Quantitative Feedback Theory (QFT) or the Horowitz method which is based on classical Bode-Nyquist-Nichols design in the frequency domain. The aim of the course is that the participant will be able to design controllers for some industrial control systems.

The course is meant for graduate students specializing in Systems Theory, Automatic Control, Process Control, Signal Processing, Optimization, Robotics, Automomous Systems, and related fields, for last year undergraduate students interested in one of the above areas e.g. for a final project, as well as for control engineers active in industry are most welcome.

Language: The course is given in Swedish, unless one of the participants demands English.The OH-slides are in English.

Prerequisites: A basic course in automatic control, covering classical feedback design.

Voluntary home assignments: 1) A SISO design problem will be given as a home assignment after the first day of the course. 2) A MIMO design problem will be given on the last day of the course. 3) Each participant will have the opportunity to suggest a design problem of individual interest, perform the design, and discuss the solution with the lecturer, e.g. via email.

Lectures: We 08.15 - 12.00, in Glashuset, Th 08.15 -12.00, in Glashuset, Fr 08.15 - 12.00, in Visionen. The lectures are given by Per-Olof Gutman.

Voluntary exercises: The day of the lectures with each participant at his/her computer.The participants are encouraged to bring their lap top computers. The exercises are individual or in pairs, assisted by the lecturer. We 13.15 - 17.00, in Algoritmen, Th 13.15 - 17.00, in Glashuset, Fr 13.15 - 17.00, in Glashuset.

Software: We will use Qsyn - the toolbox for robust control systems design for use with Matlab 6, authored by P-O Gutman and co-workers. The toolbox will be available on the Computer system of the Department of Electrical Engineering. For the duration of the course and on demand, the toolbox will be made available for the participants with PCs.

Literature: Copies of overhead slides; selected scientific articles; and Qsyn User's Guide and Reference Guide will be handed out.

Reference literature: I. M. Horowitz: "Quantitative Feedback Design - QFT", QFT Publications, Boulder, Co., 1993; O. Yaniv: "Quantitative Feedback Design of Linear and Nonlinear Control Systems", Kluwer, Boston, Ma., 1999; M. M. Seron, J. H. Braslavski, and G. C. Goodwin: "Fundamental Limitations in Filtering and Control", Springer, 1997.

Contact: For more information, please contact Per-Olof Gutman,


1. Review of classical Bode-Nichols design

2. QFT in the basic Single Input Single Output (SISO) case

3. Review of Uncertain linear dynamic plants and fundamental linear control design limitations

4. QFT for non-minimum phase and computer controlled systems

5. Review of QFT in the Cascaded SISO case, and QFT for a class of non-linear plants.

6. QFT for Multi Input Multi Output (MIMO) linear plants

7. A comparison between QFT and other robust and adaptive control methods