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This paper presents a model-based Η2/Ηinf control design, in which the fact that the model is derived from an experimental identification process has been taken into account. Since system identification and control design must be treated as mutually dependent, this paper proposes an iterative scheme to improve the performance properties of the controlled system systematically. This method provides...
This paper is concerned with the use of active brake systems in order to decrease the rollover risk of heavy vehicles. Since the forward velocity of the vehicle changes in time, the combined yaw-roll dynamic model has a nonlinear structure. Selecting the forward velocity and the so-called normalized lateral load transfer at the rear side as scheduling parameters, a Linear Parameter Varying (LPV) model...
In this paper, a servo control synthesis based on the μ method is applied. With this method, a robust compensator that achieves performance specifications can be designed, which provides the track of the predefined reference signal, rejects the effects of the disturbances and takes structured uncertainty into consideration. In the mixed μ synthesis, both the real parametric and the complex uncertainties...
In the paper a robust control design method is proposed to obtain a compensator that realizes the required loop shape formed by nominal performance and robust stability specifications. First, a fictitious compensator is identified in such a way that the design loop transfer function tends toward the required loop transfer function. Since the compensator must be identified as accurately as possible...
This paper proposes the mixed lì synthesis for active suspension problems. With this method, a robust compensator that achieves nominal performance and meets robust stability specifications can be designed. Moreover, both the real parametric and the complex uncertainties are treated together, which usually yields a less conservative compensator than the traditional robust methods. In this paper, the...
Different variants of the S-procedure provides a very important tool in robust stability and robust performance analysis. Concerning performance assessment this paper shows that the design framework based on the full block S-procedure (extended KYP lemma) contains an inherent conservativeness. The main result of the paper is a multivariate version of the classical S-procedure, stated for negative...
As an extension of the robust H∞ method, the time domain design based on linear matrix inequalities (LMI) presented in [10] is an appealing and conceptually simple framework to obtain robust LPV controllers, however, the resulting controller is not always suitable for implementation. This paper shows that in a variant of the S-procedure how the multiplier is transformed if the parameter domains are...
This paper proposes a framework for selecting affinely parametrized qLPV model structures that facilitates solutions to specific control design tasks. Moreover it facilitates the selection of the scheduling variables and provides a framework to decide whether the controller performance can be improved by introducing some estimated parameters as scheduling variables, i.e. if some adaptive strategy...
The paper presents an iterative uncertainty modeling and robust controller synthesis method for linear parameter-varying (LPV) systems in linear fractional transformation (LFT) form. The goal of the method is to improve robust performance by exploiting modeling freedom in the structured uncertainty descriptions while ensuring model consistency with respect to measurement data. The proposed iterative...
A joint uncertainty model identification and mu-synthesis algorithm is presented for linear time-invariant (LTI) systems. The goal is 1) to construct an uncertainty model set characterized by parameterized weighting functions of dynamic perturbations in the general linear fractional transformation (LFT) form and additive disturbances - customary representation in modern robust control and 2) to select...
A new active suspension control strategy with a view to global chassis control is here proposed to guarantee greater driving safety and comfort at the same time. In this way, an "adaptive" two degrees of freedom gain-scheduled controller is developed using the LPV/Hinfin theory. This allows to ensure on one hand the robustness with respect to the performances, and on the other hand the trade-off...
In this paper a reconfigurable control structure is developed to reduce the risk of heavy vehicles rolling over. The control structure with an active anti-roll bar control and an active brake control is combined with a fault detection and identification (FDI) filter, which identifies different actuator failures. The control design uses the linear parameter varying model of the vehicle, in which the...
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