Control- Oriented Linear Fractional Transformation Modelling and H∞ Control of a Two-DOF Mass- Spring- Dashpot Dynamic System. Issue 1 (31st December 2022)

• Record Type: Journal Article
• Authors: Roy, Tamal; Pal, Mita; Barai, Ranjit Kumar
• Is Part Of: Australian journal of multi-disciplinary engineering. Volume 18:Issue 1(2022)
• Page Start: 1
• Page End: 14
• Publication Date: 2022-12-31
• Subjects: Modelling uncertainty -- LFT modelling robust control -- H∞controller -- mass-spring-dashpot dynamic system; Engineering -- Periodicals; Engineering -- Australia -- Periodicals; 620.005
• DOI: 10.1080/14488388.2021.1917136
• Languages: English
• ISSNs: 1448-8388

Abstract

ABSTRACT: This paper presents a systematic control-oriented uncertainty modelling approach in the Linear Fractional Transformation (LFT) framework of a Multi-Input-Multi-Output (MIMO) mechanical system for designing an H∞ controller. A compact modelling structure has been formulated by considering the parametric uncertainties and disturbances to implement robust control law to achieve certain performance specifications. A popular mechanical system, namely, Two-Degree-of-Freedom (2DOF) Mass-Spring-Dashpot (MSD) dynamics system, which is highly oscillatory and implements in many classical control techniques have been considered as a candidate system to formulate proposed control-oriented LFT modelling framework and design H∞ controller to verify the effectiveness of the derived modelling structure in a real-time environment. This modelling methodology has been illustrated in the simulation environment and indicating satisfactory robust stability and performance margin of the designed H∞ controller. The proposed control strategy is compared with the standard Model Reference Adaptive Control (MRAC) law to express the effectiveness of the controller.