template_ex4.tex

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\lhead{Filotheou}
\rhead{EL2520}
\chead{DECOUPLING &
GLOVER-MCFARLANE ROBUST
LOOP-SHAPING}
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\title{
	Computer Exercise 4\\
	EL2520 Control Theory and Practice
}
\author{
}

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\begin{document}
	\maketitle

	% Minimum phase case
	\section*{Minimum phase case}

	\subsection*{Dynamic decoupling}
	The dynamic decoupling in exercise 3.2.1 is
	\[
		W(s)=
    \begin{bmatrix}
      1                             & -dfrac{0.01476}{s + 0.0213} \\
      -dfrac{0.01336}{s + 0.02572}  & 1                           \\
    \end{bmatrix}
	\]

	%\imaget{figures/bode_mp.tex}{Bode diagram of $\tilde{G}(s)$ derived in exercise 3.2.1}
	%\imaget{figures/response_mp.tex}{Simulink plots from exercise 3.2.4}

	Is the controller good?
	\par\dotfill\par\dotfill\par
	Are the output signals coupled?
	\par\dotfill\par\dotfill

	\subsection*{Glover-MacFarlane robust loop-shaping}

	%\image{figure_3.pdf}{Simulink plots from exercise 3.3.4}

	What are the similarities and differences compared to the nominal design?
	\par\dotfill\par\dotfill

	% Non-minimum phase case
	\section*{Non-minimum phase case}

	\subsection*{Dynamic decoupling}
	The dynamic decoupling in exercise 3.2.1 is
	\[
		W(s) = \ldots
	\]

	%\imaget{figures/bode_nmp.tex}{Bode diagram of $\tilde{G}(s)$ derived in exercise 3.2.1}
	%\imaget{figures/response_nmp.tex}{Simulink plots from exercise 3.2.4}

	Is the controller good?
	\par\dotfill\par\dotfill\par
	Are the output signals coupled?
	\par\dotfill\par\dotfill

	\subsection*{Glover-MacFarlane robust loop-shaping}

	%\image{figure_6.pdf}{Simulink plots from exercise 3.3.4}

	What are the similarities and differences compared to the nominal design?
	\par\dotfill\par\dotfill
\end{document}