Abstract : This paper aims at presenting a modelization of the uncertainty on the linear model obtained from the so-called linearizing feedback of dynamic flat systems. After such a linearizing feedback is computed to ensure good nominal tracking performance, a compact set of models can be computed by taking account of both state space disturbances and parametric errors. A robust linear feedback is then designed in order to guarantee a specified level of performance. This representation of the compact set of models makes use of the Linear Fractionnal Transformation, so that the global robustness of tracking performance is assessed by µ-analysis.
https://hal.archives-ouvertes.fr/hal-00186316
Contributor : Loïc Lavigne
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Submitted on : Thursday, November 8, 2007 - 4:38:15 PM
Last modification on : Wednesday, February 28, 2018 - 8:56:02 AM
Loïc Lavigne, Franck Cazaurang, Benoît Bergeon. Modelization of disturbed flat system for robust control design.. 5th IFAC Symposium "Nonlinear Control System" (NOLCOS'01), Dec 2001, Saint Pétersbourg, Russia. ⟨hal-00186316⟩
