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By: Ranjit Kumar Barai (Author) , Tamal Roy (Author)
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This book covers a new paradigm of system modeling โ 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 ฮผ-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 inputโoutput. 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 ฮผ-synthesis-based Hโ 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.
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