Robust Control-Oriented Linear Fractional Transform Modelling

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 H8 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.