Robust control-oriented linear fractional transform modelling : applications for the [mu]-synthesis based H[infinity] control / Tamal Roy, Ranjit Kumar Barai.
Roy, Tamal, author.; Barai, Ranjit Kumar, author.
2023
TJ220
Available Online

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Title Robust control-oriented linear fractional transform modelling : applications for the [mu]-synthesis based H[infinity] control / Tamal Roy, Ranjit Kumar Barai.
Author Roy, Tamal, author.
ISBN 9789811974625 (electronic bk.)
9811974624 (electronic bk.)
9789811974618
9811974616
DOI https://doi.org/10.1007/978-981-19-7462-5
Published Singapore : Springer, [2023]
Copyright ©2023
Language English
Description 1 online resource (xi, 161 pages) : illustrations (chiefly color).
Item Number 10.1007/978-981-19-7462-5 doi
Call Number TJ220
Dewey Decimal Classification 629.8/32
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 [mu]-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 inputoutput. 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 [mu]-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.
Bibliography, etc. Note Includes bibliographical references and index.
Access Note Access limited to authorized users.
Source of Description Online resource; title from PDF title page (SpringerLink, viewed January 13, 2023).
Added Author Barai, Ranjit Kumar, author.
Series Studies in systems, decision and control ; v. 453.
Available in Other Form Print version: 9789811974618
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Intro
Preface
Contents
About the Authors
1 Introduction
1.1 Motivation
1.2 Organization of This Book
References
2 Mathematical Modelling of Real Physical Systems
2.1 Introduction
2.2 Mathematical Modelling of Real Physical Systems
2.3 Model-Based Control System
2.4 Uncertainty Modelling
2.5 Linear Fractional Transformation Modelling
2.6 Important Observations
2.7 Chapter Summary
References
3 Control-Oriented Linear Fractional Transformation
3.1 Introduction
3.2 Control-Oriented Modelling
3.3 Uncertainty Modelling

5 Generalized Control-Oriented LFT Modelling of a Coupled Uncertain MIMO System
5.1 Introduction
5.2 Generalized Control-Oriented LFT Modelling of Linear MIMO System
5.2.1 Problem Formulation
5.2.2 Control-Oriented LFT Modelling Approach for Multiplicative Uncertainty Structure
5.3 Generalized Control-Oriented LFT Modelling of Nonlinear MIMO System
5.3.1 Problem Formulation
5.3.2 Control-Oriented LFT Modelling Approach for Polytopic Uncertainty Structure
5.4 Chapter Summary
References
6 Control-Oriented LFT Modelling of a Two-DOF Spring-Mass-Dashpot Dynamic System

6.1 Introduction
6.2 Mathematical Modelling of 2DOF SMD System
6.3 LFT Modelling
6.3.1 Control-Oriented Linear Fractional Transformation Modelling of Two-DOF Spring-Mass-Dashpot Dynamic System
6.4 H∞ Controller Design
6.4.1 Weighting Function
6.4.2 System Interconnection
6.4.3 Simulation Results
6.5 Chapter Summary
References
7 Control-Oriented LFT Modelling and H∞ Control of Twin Rotor MIMO System
7.1 Introduction
7.2 Mathematical Modelling of Twin Rotor MIMO System
7.2.1 Lagrangian Model of Twin Rotor MIMO System

7.3 Control-Oriented LFT Modelling of Twin Rotor MIMO System
7.4 Design Specifications
7.4.1 Weighting Function
7.4.2 System Structure
7.5 H∞ Controller Design
7.6 Simulation Results
7.7 Chapter Summary
7.8 Notation
References
8 Control-Oriented LFT Modelling and H∞ Control of Differentially Driven Wheeled Mobile Robot
8.1 Introduction
8.2 Mathematical Modelling of Differentially Driven Wheeled Mobile Robot
8.2.1 Kinematic Modelling
8.2.2 Dynamic Modelling
8.3 Control-Oriented LFT Modelling of Differentially Driven Wheeled Mobile Robot

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