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Robust Control-Oriented Linear Fractional Transform Modelling : Applications for the µ-Synthesis Based H∞ Control / by Tamal Roy, Ranjit Kumar Barai.
Springer eBooks EBA - Intelligent Technologies and Robotics Collection 2023 Available online
View online- Format:
- Book
- Author/Creator:
- Roy, Tamal, author.
- Barai, Ranjit Kumar, author.
- Series:
- Studies in Systems, Decision and Control, 2198-4190 ; 453
- Language:
- English
- Subjects (All):
- Automatic control.
- Mechatronics.
- Robotics.
- Automation.
- Control and Systems Theory.
- Control, Robotics, Automation.
- Local Subjects:
- Control and Systems Theory.
- Mechatronics.
- Control, Robotics, Automation.
- Physical Description:
- 1 online resource (166 pages)
- Edition:
- 1st ed. 2023.
- Place of Publication:
- Singapore : Springer Nature Singapore : Imprint: Springer, 2023.
- Summary:
- 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.
- Notes:
- Includes index.
- Other Format:
- Print version: Roy, Tamal Robust Control-Oriented Linear Fractional Transform Modelling
- ISBN:
- 981-19-7462-4
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