Ebook: Robust Control-Oriented Linear Fractional Transform Modelling: Applications for the µ-Synthesis Based H∞ Control
Author: Tamal Roy Ranjit Kumar Barai
- Genre: Technique // Automation
- Series: Studies in Systems Decision and Control 453
- Year: 2023
- Publisher: Springer
- City: Singapore
- Language: English
- pdf
This book covers a new paradigm of system modeling – the robust control-oriented linear fractional transformation (LFT) modeling. A dynamic system expressed in LFT modeling framework paves the way for the application of modern robust controller design technique like μ-synthesis method for controller design. This book covers the generalized robust control-oriented LFT modeling representation of the MIMO system depending upon the uncertainty structure, system dynamics, and the dimensions of the input–output. The modeling framework results into a compact and manageable representation of uncertainty modeling in the form of feedback-like structure that is suitable for design and implementation of the robust control technique like μ-synthesis-based H∞ control theory. This book also describes the application of the proposed methodology in a variety of advanced mechatronic systems like the Twin Rotor MIMO system, wheeled mobile robot, and an industrial robot arm.