Robust Control-Oriented Linear Fractional Transform Modelling : Applications for the µ-Synthesis Based H∞ Control (Studies in Systems, Decision and Control)

Roy, Tamal/ Barai, Ranjit Kumar

Springer Verlag, Singapore（2024/01発売）

• 製本 Paperback:紙装版/ペーパーバック版／ページ数 161 p.
• 言語 ENG
• 商品コード 9789811974649
• DDC分類 629.832

Full Description

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.

Contents

Introduction.- Mathematical Modelling of Real Physical System.- Control Oriented Linear Fractional Transformation.- Synthesis Based H∞ Control Theory.- Generalized Control Oriented LFT Modelling of a Coupled Uncertain MIMO System.- Control-Oriented LFT Modelling of a Two-DOF Spring- Mass-Dashpot Dynamic System.- Control Oriented LFT Modelling and H∞ Control of Twin Rotor MIMO System.- Control Oriented LFT Modelling and H∞ Control of Differentially Driven Wheeled Mobile Robot.- Control Oriented LFT Modelling and H∞ Control of Differentially Driven Wheeled Mobile Robot with Slip Dynamics.